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Test:MRS UAV System - Test coverage reportLines:143942199565.4 %
Date:2024-10-08 22:31:24Functions:2652442959.9 %
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_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
+ 		0.0 %0 / 260.0 %0 / 4
mrs_lib/src/geometry +
15.1%15.1%
+ 		15.1 %67 / 44516.0 %15 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.3%18.3%
+ 		18.3 %90 / 49121.1 %12 / 57
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
57.2%57.2%
+ 		57.2 %135 / 23640.5 %17 / 42
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9342.5 %51 / 120
mrs_lib/src/batch_visualizer +
44.1%44.1%
+ 		44.1 %192 / 43544.4 %20 / 45
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_lib/src/scope_timer +
13.4%13.4%
+ 		13.4 %19 / 14250.0 %5 / 10
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_lib/include/mrs_lib/impl +
78.5%78.5%
+ 		78.5 %366 / 46655.6 %835 / 1501
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_lib/include/mrs_lib +
79.0%79.0%
+ 		79.0 %781 / 98857.8 %851 / 1472
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
+ 		65.0 %80 / 12360.0 %6 / 10
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
42.0%42.0%
+ 		42.0 %416 / 99160.4 %67 / 111
mrs_uav_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %325 / 47763.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
+ 		53.8 %213 / 39666.7 %22 / 33
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
+ 		73.4 %441 / 60167.7 %21 / 31
mrs_uav_managers/include/transform_manager +
48.5%48.5%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_state_estimators/src/estimators/state +
65.0%65.0%
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mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
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mrs_lib/src/transformer +
66.4%66.4%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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100.0%
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100.0%
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100.0%
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84.0%84.0%
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80.5%80.5%
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63.3%63.3%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_uav_trackers/src/mpc_tracker +
82.9%82.9%
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mrs_uav_managers/src/transform_manager +
80.5%80.5%
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89.1%89.1%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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94.6%94.6%
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mrs_lib/src/math +
100.0%
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100.0%
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100.0%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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98.3%98.3%
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mrs_uav_trajectory_generation/src +
68.0%68.0%
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mrs_uav_autostart/src +
87.5%87.5%
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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_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
+ 		0.0 %0 / 260.0 %0 / 4
mrs_lib/src/scope_timer +
13.4%13.4%
+ 		13.4 %19 / 14250.0 %5 / 10
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
mrs_lib/src/geometry +
15.1%15.1%
+ 		15.1 %67 / 44516.0 %15 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.3%18.3%
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mrs_lib/src/profiler +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
42.0%42.0%
+ 		42.0 %416 / 99160.4 %67 / 111
mrs_lib/src/batch_visualizer +
44.1%44.1%
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_uav_managers/include/transform_manager +
48.5%48.5%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
+ 		53.8 %213 / 39666.7 %22 / 33
mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
+ 		55.0 %241 / 43875.8 %25 / 33
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
+ 		55.2 %53 / 9670.4 %19 / 27
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
57.2%57.2%
+ 		57.2 %135 / 23640.5 %17 / 42
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_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_state_estimators/src/estimators/state +
65.0%65.0%
+ 		65.0 %328 / 50573.7 %28 / 38
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
+ 		65.0 %80 / 12360.0 %6 / 10
mrs_uav_managers/src/estimation_manager +
65.8%65.8%
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mrs_lib/src/transformer +
66.4%66.4%
+ 		66.4 %186 / 28076.9 %20 / 26
mrs_uav_trajectory_generation/src +
68.0%68.0%
+ 		68.0 %760 / 1118100.0 %22 / 22
mrs_uav_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_managers/src/control_manager +
69.2%69.2%
+ 		69.2 %2591 / 374586.3 %107 / 124
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9342.5 %51 / 120
mrs_uav_managers/src +
72.4%72.4%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
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mrs_lib/include/mrs_lib/impl +
78.5%78.5%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/include/mrs_lib +
79.0%79.0%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_uav_managers/src/transform_manager +
80.5%80.5%
+ 		80.5 %347 / 43192.9 %13 / 14
mrs_uav_controllers/src +
80.5%80.5%
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mrs_uav_trackers/src/mpc_tracker +
82.9%82.9%
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mrs_lib/src/timer +
84.0%84.0%
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mrs_uav_autostart/src +
87.5%87.5%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/attitude_converter +
94.6%94.6%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_controllers/include +
98.3%98.3%
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mrs_uav_managers/include/control_manager +
100.0%
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100.0%
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mrs_lib/src/utils +
100.0%
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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%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
+ 		100.0 %10 / 1083.3 %5 / 6
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
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+
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LCOV - code coverage report
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Date:2024-10-08 22:31:24Functions:2652442959.9 %
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib +
79.0%79.0%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_lib/include/mrs_lib/impl +
78.5%78.5%
+ 		78.5 %366 / 46655.6 %835 / 1501
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%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_lib/src/batch_visualizer +
44.1%44.1%
+ 		44.1 %192 / 43544.4 %20 / 45
mrs_lib/src/geometry +
15.1%15.1%
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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 +
80.0%80.0%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_lib/src/scope_timer +
13.4%13.4%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/src/timer +
84.0%84.0%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_lib/src/transformer +
66.4%66.4%
+ 		66.4 %186 / 28076.9 %20 / 26
mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_autostart/src +
87.5%87.5%
+ 		87.5 %293 / 335100.0 %22 / 22
mrs_uav_controllers/include +
98.3%98.3%
+ 		98.3 %57 / 58100.0 %14 / 14
mrs_uav_controllers/src +
80.5%80.5%
+ 		80.5 %1751 / 217487.9 %58 / 66
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 +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_managers/include/transform_manager +
48.5%48.5%
+ 		48.5 %195 / 40268.4 %13 / 19
mrs_uav_managers/src +
72.4%72.4%
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mrs_uav_managers/src/control_manager +
69.2%69.2%
+ 		69.2 %2591 / 374586.3 %107 / 124
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_uav_managers/src/estimation_manager +
65.8%65.8%
+ 		65.8 %438 / 66683.3 %40 / 48
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
80.5%80.5%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
42.0%42.0%
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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 +
57.2%57.2%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
+ 		0.0 %0 / 260.0 %0 / 4
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
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mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
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mrs_uav_state_estimators/src/estimators/heading +
18.3%18.3%
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mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
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mrs_uav_state_estimators/src/estimators/state +
65.0%65.0%
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
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mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
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mrs_uav_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %325 / 47763.3 %19 / 30
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_trackers/src/mpc_tracker +
82.9%82.9%
+ 		82.9 %1395 / 168290.0 %45 / 50
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
mrs_uav_trajectory_generation/src +
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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:232785.2 %
Date:2024-10-08 22:31:24Functions:91181.8 %
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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
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_Li0EEEIdEEv104662
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)330274
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)652044
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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:232785.2 %
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mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)330274
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>)652044
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv104662
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Date:2024-10-08 22:31:24Functions:91181.8 %
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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      330274 :   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             :     const char* what() const throw() {
+     185             :       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    15343592 :   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      652044 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      648916 :     double       angle = angle_axis.angle();
+     255      650046 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      650962 :     tf2_quaternion_.setRotation(axis, angle);
+     258      650482 :   }
+     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      104662 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335      104662 :     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..5645ea2bb184ba5c13faadff6ae080a7ed21a006 GIT binary patch literal 1675 zcmV;626Xv}P)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp^O~xJw}!I*vg`@baJIpOoIavV`$(K?>!`bo|a^C) za8g(t(GB3SHwi*Y*B(ABA)4cq7R?deK-XjKEeJ~&vr9LR}k6~|SE zj-$qCkGRR)tetw3kCxx*!;6UEC@RHf4BS;>N2h>L$)pCW@@QNm!OX>*`BO)Lk71D%>OnE>K^hjQTBMES? zGvhv}xdH-50z4|BgOy^!kpa(GH^`~foRA8S^Y>UW#vJMJOe}{A4}y>ij~qH^H4MF) zneqsxd6A=h9u5{hcDe;P(zMKk1rd-Ue&^knPPR3jA9^gb>#8x~Ik7N~R1Fdq@=|ju z0T!S8M{bY&wr%zW06bfshHfN{MDlGm(rkM>62Wo>ikiawavEnFLStBy1HdIWEFe%Ww^Ngwm;Hcq)jl z0*{0W;oTtCZ~llxle+lG>3#O+D&&gJrG@=)lao1h2seK7gq0SK9kjuxg-NrKGR!%~ z`au99dU_T5N&6~=-sZqq>k<~8`<@qW?#HHsHY0qrv%R~ejG3dmdiYQNZF4O4*G{-$ z^G7N8QUf@SO&a1DH?d4h1F$$gpRd=K`+0r3pV#NJ)po+CrwQ%T-SgEVtiNn>JQv4Q z$!a>`qaW=;`3?H`0rb(Ur2TajeM}|3XxAlSQK}p$B;JRoy~&s`4k)2hNq1Dm2(-&Z z%ZP0UeT*pTteufi+CMJX^?uWrH*Wvgee-&=U5j%JyB%`DkeX;_W9brNyMAW@LV=NF z`vbMAFhtINPYBIhx=Oy)`A1x1t=K11!#H_Sq=yYc#`?Mxm2Dy{cz^))?R~`tEg7 zo(>_l>s;xc@cdbu``xNXAjEdvf~QT$fk&n`v;a?Mx|iT-@?_UO)>ViPPuH7ayKcbK zIe5W=N5r<4w5LOe?HZq((Kwy}I4+3;`PQSeHB3yo++}$V=9qWo+^i(35sOuwsIM>rafH+-<*caYfll7-k8qBGOLd1CnUsn zot2`+1`_h(bt-s#>%p`$vc0^nk+7M>5i7}n<3->Z68->q@ErZ91s_QKmCsa&B%_`q z1D@+YQz7;U=C6FFLhb=op7xZL`xqZRZtpz_n1U--iU~*Zp}2TpDV}{(xy0affm7%5 z+W7_^4dR!LZX*O5l2^DZ1 z?A~WeTGw4u;hC=z$ot`PUf>U&F~>i6h8%ghnJNAcf#T%Hdy|jS=_H)EsjMJ8?!*5I z51!+@7iT$1QUD{R;|$UhBs~Y1;Zi2XPgaWJl!jXIElj|TK46~NkO7}ca2>#x;XcI* z^CV0j8!}-zAteJI3FZ@GU`1FF5~pzC_+7=3X)_ASQIrJ;gUR_iSNsD<>R>{U1Y^?W zvYR!Sg}4SeuBe%R`Cnmz$V;iPVjSJHb9JE2c3kC8_@f)zqlD5AEDo&}n_5NIC62c= zqkgYRb;F6tx*!Fl3jb2?u8vgi2?nd`J-wb + + + + + + 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:2024-10-08 22:31:24Functions: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&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
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&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
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&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)230
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&)345
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&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)345
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)404
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&)414
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&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)414
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&)414
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&)606
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&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)606
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)828
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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..82df5f3b65 --- /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
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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:2024-10-08 22:31:24Functions: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<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&)414
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&)414
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&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)828
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)414
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*&)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)414
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&)414
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&)345
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&)345
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&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)230
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
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*&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)345
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&)115
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&)606
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&)606
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&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)404
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
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*&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)606
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&)202
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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:2024-10-08 22:31:24Functions: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         731 :   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         731 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         731 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         731 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         731 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         414 :   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        1462 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73        1462 :     m_server.updateConfig(cfg);
+      74        1462 :   }
+      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         731 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         731 :     if (m_print_values)
+     109             :     {
+     110         731 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         731 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         731 :     if (m_not_initialized)
+     117             :     {
+     118         731 :       load_defaults(new_config);
+     119         731 :       update_config(new_config);
+     120             :     }
+     121         731 :     if (m_print_values)
+     122             :     {
+     123         731 :       print_changed_params(new_config);
+     124             :     }
+     125         731 :     m_not_initialized = false;
+     126         731 :     config = new_config;
+     127         731 :     if (m_usr_cbf)
+     128         317 :       m_usr_cbf(new_config, level);
+     129         731 :   }
+     130             : 
+     131             :   template <typename T>
+     132        1365 :   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        2730 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136        1365 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137        1365 :   }
+     138             :   
+     139         731 :   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        1462 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        2096 :     for (auto& descr : descrs)
+     144             :     {
+     145        2730 :       std::string name = descr->name;
+     146        1365 :       size_t pos = name.find("__");
+     147        1365 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153        1365 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155        1365 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157        1365 :       else if (descr->type == "double")
+     158        1365 :         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         731 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         731 :   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        1462 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        2096 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177        1365 :       descr->getValue(new_config, val);
+     178        1365 :       descr->getValue(config, old_val);
+     179        1365 :       std::string name = descr->name;
+     180        1365 :       const size_t pos = name.find("__");
+     181        1365 :       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        1365 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202        1365 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204        1365 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205        1365 :           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         731 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224        1365 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226        1365 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229        1365 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230        1365 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        2730 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        2730 :     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:2024-10-08 22:31:24Functions:4811741.0 %
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>::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>::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::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)1014
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1014
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)1014
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::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::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::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::sradians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)10010
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10420
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::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::radians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)461717
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)533224
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)667280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)667280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)667280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)901665
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)944764
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>)1005905
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)1354588
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2041457
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2064018
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3352832
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3366786
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>)4044311
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8188623
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)8987161
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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..fd3edc8be9 --- /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:2024-10-08 22:31:24Functions:4811741.0 %
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>::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)1014
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1014
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>)1005905
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)533224
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>)461717
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10420
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2064018
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)1014
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&)901665
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)944764
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2041457
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)667280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)667280
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>)4044311
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3366786
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>)10010
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)8987161
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)667280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3352832
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&)1354588
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8188623
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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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/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-10-08 22:31:24Functions:4811741.0 %
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    10270085 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     2299352 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      901665 :       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    11111184 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117    11111184 :         if (val >= minimum)
+     118             :         {
+     119    10282557 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120    10056529 :             return val;
+     121      226028 :           else if (val < supremum + range)
+     122       63073 :             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      828637 :           if (val >= minimum - range)
+     126      664963 :             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      326630 :         const flt rem = std::fmod(val - minimum, range);
+     131      326630 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326444 :         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     3382833 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     3382833 :         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     3920010 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     3920010 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     5070216 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     5070216 :         const flt d = minuend.val - subtrahend.val;
+     201     5070216 :         if (d < -half_range)
+     202       42811 :           return d + range;
+     203     5027405 :         if (d >= half_range)
+     204       26614 :           return d - range;
+     205     5000795 :         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       20422 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20422 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      471727 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      471727 :         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      668294 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      668294 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      668294 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      668294 :         const flt dang = diff(to, from);
+     250      668294 :         const flt intp = from.val + coeff * dang;
+     251      668294 :         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      668294 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      668294 :         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&)148949
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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&)148949
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      148955 :     double headingFromRot(const T& rot)
+      58             :     {
+      59      148955 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      297910 :       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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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)2145
mrs_lib::UTM(double, double, double*, double*)6123
mrs_lib::LLtoUTM(double, double, double&, double&, char*)155847
mrs_lib::UTMLetterDesignator(double)155890
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mrs_lib::UTMLetterDesignator(double)155890
mrs_lib::UTM(double, double, double*, double*)6123
mrs_lib::LLtoUTM(double, double, double&, double&, char*)155847
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)2145
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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        6123 :   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        6123 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        6123 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        6123 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        6123 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        6123 :     double slat = sin(rlat);
+      71        6123 :     double clat = cos(rlat);
+      72        6123 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        6123 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        6123 :     double T = tlat * tlat;
+      78        6123 :     double C = UTM_EP2 * clat * clat;
+      79        6123 :     double A = (rlon - rlon0) * clat;
+      80        6123 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        6123 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        6123 :     *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        6084 :     *y = fn +
+      86        6084 :          UTM_K0 *
+      87        6103 :              (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        6084 :     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      155890 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      155890 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      155890 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      155890 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      155890 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      155890 :     else if ((48 > Lat) && (Lat >= 40))
+     113      154905 :       LetterDesignator = 'T';
+     114         985 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         985 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         985 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         985 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         985 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         983 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         983 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         983 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         983 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         983 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         983 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         983 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         983 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         983 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         983 :     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         983 :       LetterDesignator = 'Z';
+     147      155890 :     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      155847 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      155847 :     double a          = WGS84_A;
+     161      155847 :     double eccSquared = UTM_E2;
+     162      155847 :     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      155847 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      155847 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      155847 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      155847 :     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      155847 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      155847 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      155847 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      155847 :     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      155847 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      155847 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      155847 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      155271 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      155271 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      155271 :     T = tan(LatRad) * tan(LatRad);
+     209      155271 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      155271 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      155271 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      155271 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      155271 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      155271 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      155271 :     UTMEasting =
+     218      155271 :         (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      155271 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      155271 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      155271 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      155271 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      155271 :   }
+     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        2145 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        2145 :     double                  k0         = UTM_K0;
+     247        2145 :     double                  a          = WGS84_A;
+     248        2145 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        2145 :     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        2145 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        2145 :     y = UTMNorthing;
+     262             : 
+     263        2145 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        2145 :     if ((*ZoneLetter - 'N') >= 0)
+     265        2145 :       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        2145 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        2145 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        2145 :     M  = y / k0;
+     276        2145 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        2145 :     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        2145 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        2145 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        2145 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        2145 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        2145 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        2145 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        2145 :     D  = x / (N1 * k0);
+     287             : 
+     288        2145 :     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        2145 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        2145 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        2145 :     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        2145 :            cos(phi1Rad);
+     294        2145 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        2145 :   }
+     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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+ 		100.0 %18 / 18100.0 %18 / 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_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-10-08 22:31:24Functions:835150155.6 %
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
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.6 %201 / 206
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13143.6 %500 / 1147
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
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..b4a5e78eef --- /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:2024-10-08 22:31:24Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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> >&) const5
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> >&) const5
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> >&) const10
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> >&) const10
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> >&) const1933
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> >&) const1933
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> > > >&) const3796
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> > > >&) const3796
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
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> >&) const18513
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> >&) const18513
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22302
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22302
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
+
+
+ + + +
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..aaa702e47b --- /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:2024-10-08 22:31:24Functions:1616100.0 %
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> >&) const18513
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> > > >&) const3796
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> >&) const1933
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> >&) const10
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> >&) const5
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22302
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
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> >&) const18513
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> > > >&) const3796
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> >&) const1933
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> >&) const10
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> >&) const5
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22302
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
+
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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..48375682d0 --- /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:2024-10-08 22:31:24Functions:1616100.0 %
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       96404 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       96404 :       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       96404 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       96404 :       const auto found_node = findYamlNode(param_name);
+      27       96404 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       82385 :           value_out = found_node.value().as<T>();
+      33       82384 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41       14019 :     if (m_use_rosparam)
+      42       14019 :       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
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+ + + 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:445481.5 %
Date:2024-10-08 22:31:24Functions:20120697.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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::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<mrs_msgs::ObstacleSectors_<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&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<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&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<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<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
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<mrs_msgs::HwApiRcChannels_<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<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > 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<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
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&)31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)31
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&)31
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)91
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)91
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)108
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&)108
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&)108
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&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)108
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&)108
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&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)108
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&)108
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&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)108
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&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)108
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&)108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)108
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&)109
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&)109
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<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&)115
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)115
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&)115
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&)216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)216
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&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)217
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&)224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)224
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&)224
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&)317
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)317
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&)317
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&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)432
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&)432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)432
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&)432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)432
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&)432
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&)432
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&)432
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)434
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)434
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)441
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&)531
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&)531
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)627
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)627
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&)627
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&)648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)648
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&)648
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&)828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)828
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&)828
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1820
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1820
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1822
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1822
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2215
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2215
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2266
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2266
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2318
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2318
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7363
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7363
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9365
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9365
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11886
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11886
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12971
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12971
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15883
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15883
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18662
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18662
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19110
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19110
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)23974
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)23974
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)23974
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)23974
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36322
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36322
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96254
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96254
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)99170
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)99170
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110917
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110917
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149154
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149154
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)155735
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167964
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167964
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214205
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214205
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249652
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249652
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380559
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380581
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)381686
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)381738
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)527526
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)528182
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)741236
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)742343
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)810588
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)810597
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1521209
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1521500
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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..1179e1a969 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,904 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
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:445481.5 %
Date:2024-10-08 22:31:24Functions:20120697.6 %
Legend: Lines: + hit + not hit +
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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&)167964
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&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)99170
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&)216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214205
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&)115
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)115
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36322
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&)648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)648
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11886
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96254
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&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)381738
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&)627
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)627
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110917
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&)108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)742343
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&)432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7363
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<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<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)434
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<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&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2318
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&)108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15883
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&)108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1521500
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&)828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)828
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)528182
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&)317
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)317
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2266
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)217
mrs_lib::PublisherHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
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&)102375
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149154
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18662
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&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)23974
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&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2215
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&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1820
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&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)91
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19110
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
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&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1822
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&)108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
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&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380581
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&)224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)224
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)810597
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)155735
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&)531
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)441
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9365
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&)31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)31
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12971
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&)108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)108
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&)23974
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&)108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249652
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&)432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167964
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&)432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)99170
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&)216
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214205
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&)115
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36322
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&)648
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11886
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96254
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)381686
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&)627
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110917
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)741236
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&)432
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7363
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<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<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)434
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<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&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2318
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15883
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1521209
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&)828
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)527526
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&)317
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2266
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
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&)102375
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149154
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18662
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)23974
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2215
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1820
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)91
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19110
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1822
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
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&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380559
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&)224
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)810588
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&)531
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9365
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&)31
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12971
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&)108
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&)23974
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&)108
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249652
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&)432
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..ab550a2724 --- /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:445481.5 %
Date:2024-10-08 22:31:24Functions:20120697.6 %
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        7431 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        7431 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        7431 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        7431 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        7431 :     if (rate > 0.0) {
+      31             : 
+      32         757 :       throttle_ = true;
+      33             : 
+      34         757 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        6674 :       throttle_ = false;
+      39             : 
+      40        6674 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        7431 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        7431 :   publisher_initialized_ = true;
+      47        7431 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     5764544 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     5764544 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     5763782 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     5764374 :     if (throttle_) {
+      64             : 
+      65      301086 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66      196747 :         return;
+      67             :       }
+      68             : 
+      69      104339 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     5567627 :       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           1 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           1 :   if (!publisher_initialized_) {
+     121           0 :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           1 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           1 :     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           1 :       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        8311 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        8311 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        8311 :   if (other.impl_) {
+     175        8311 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        8311 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      155735 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      155735 :   if (other.impl_) {
+     189      155735 :     this->impl_ = other.impl_;
+     190             :   }
+     191      155735 : }
+     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        7431 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        7431 :                                               const double& rate) {
+     200             : 
+     201        7431 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        7431 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     5766681 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     5766681 :   impl_->publish(msg);
+     212     5767697 : }
+     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           1 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           1 :   impl_->publish(msg);
+     232           1 : }
+     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
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..4ab1195056 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html @@ -0,0 +1,82 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + 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..635f18b8a53237cee5f0d09d83c1fed5e41f3609 GIT binary patch literal 798 zcmV+(1L6FMP)q?p-?i-RjX(;YJ986rs_mRR+& z!Y<6?3J4QF(~^;O<*WMRe90>Mf*%@bz^-JM1R`wOATk#1l<#Kh5t#xM6ciL;M72mR zY3+(=b}l#HiYR zek5J0OjUl2b3~AfM3}NldX^B89V%|y>-BnWMVU50Nh#uTYieeBV(Jk+$~liRzI)FV z;#$bI77;o&INwVuRV0YKAW6xF26A_>#!Pm`*C-?WDSk`wD-`8fF!E4elK=F#?Q0=I z5jzWbgpbreMs4J*n#gmAcprXrs|Y_ou^R)EUnRt4e;?wADLUG08>pUbmseoD8+7$GdOSDvk4}F5 zcno{K%D|yA? zJma6R+lHy}NUmy_>Ljl>Qlt4jV;mm8`{!rI)}k-EK*F=z01|q5F~XT4GqEY86Sm~T c=jTZ84>I7)EiN$bBme*a07*qoM6N<$g7<4~+W-In literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html new file mode 100644 index 0000000000..98a98019c3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html @@ -0,0 +1,284 @@ + + + + + + + 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:526580.0 %
Date:2024-10-08 22:31:24Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&, int const&, double const&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::asyncRun()0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride> const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv> const&)2
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::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::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)108
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)220
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)220
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)324
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)361
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)361
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)650
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1074
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1074
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1182
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..32a1d72046 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,284 @@ + + + + + + + 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:526580.0 %
Date:2024-10-08 22:31:24Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv> const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride> const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)361
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)220
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&)1074
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1074
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&, int const&, double const&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::asyncRun()0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)361
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)220
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&)1182
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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:526580.0 %
Date:2024-10-08 22:31:24Functions:475192.2 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
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+       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        2485 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        2485 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        2485 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        2485 :   _address_       = address;
+      31        2485 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        2485 :   service_initialized_ = true;
+      36        2485 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43        1249 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45        1249 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49        1249 :   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           0 : std::future<ServiceType> ServiceClientHandler_impl<ServiceType>::callAsync(ServiceType& srv) {
+     124             : 
+     125             :   {
+     126           0 :     std::scoped_lock lock(mutex_async_);
+     127             : 
+     128           0 :     async_data_         = srv;
+     129           0 :     async_attempts_     = 1;
+     130           0 :     async_repeat_delay_ = 0;
+     131             :   }
+     132             : 
+     133           0 :   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        2377 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        2377 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        2377 :   if (other.impl_) {
+     211        2377 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        2377 :   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        2377 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        2377 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        2377 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244         108 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246         108 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247         108 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254        1249 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256        1249 :   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           0 : std::future<ServiceType> ServiceClientHandler<ServiceType>::callAsync(ServiceType& srv) {
+     285             : 
+     286           0 :   std::future<ServiceType> res = impl_->callAsync(srv);
+     287             : 
+     288           0 :   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
+
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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::setNoMessageTimeout(ros::Duration 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::MagneticField_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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> > >::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::setNoMessageTimeout(ros::Duration 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::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()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::setNoMessageTimeout(ros::Duration 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::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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::setNoMessageTimeout(ros::Duration 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::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<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::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<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::setNoMessageTimeout(ros::Duration 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::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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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::setNoMessageTimeout(ros::Duration 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::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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> > >::ImplThreadsafe::getMsg()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::setNoMessageTimeout(ros::Duration 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::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::setNoMessageTimeout(ros::Duration 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::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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::setNoMessageTimeout(ros::Duration 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> > >::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::setNoMessageTimeout(ros::Duration 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::~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::setNoMessageTimeout(ros::Duration 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::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::setNoMessageTimeout(ros::Duration 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::getNumPublishers() 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::MagneticField_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::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::getNumPublishers() 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::getNumPublishers() 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::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::getNumPublishers() 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::getNumPublishers() 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::newMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() 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::getNumPublishers() 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::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::getNumPublishers() 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::getNumPublishers() 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::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::getNumPublishers() 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::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::getNumPublishers() 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::hasMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() 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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() 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::getNumPublishers() 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::getNumPublishers() 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::hasMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() 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::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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::getNumPublishers() 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::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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() 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> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getNumPublishers() 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::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::getNumPublishers() 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::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const4
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<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()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::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
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&)7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const18
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const90
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)91
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)91
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()91
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const91
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const92
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const92
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const111
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2112
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2112
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2115
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()116
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const118
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const132
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()209
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()209
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2209
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const213
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()216
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()216
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()216
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()216
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()220
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()220
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2220
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const224
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()247
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()247
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const277
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const277
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()334
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()334
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2334
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)341
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)341
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()349
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()349
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()355
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()355
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2355
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()381
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()381
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const381
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const381
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)388
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)388
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const418
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()425
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()425
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2425
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()432
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()432
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const440
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const494
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)555
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)555
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const648
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()652
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()652
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2652
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const668
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const698
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const785
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const821
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const850
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1044
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1436
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1820
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1820
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1821
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1821
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2126
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2126
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3121
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3121
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3678
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3678
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3678
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3678
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5570
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5586
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8243
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8251
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()14442
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const14443
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()14445
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const14445
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15873
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15873
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const16737
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18153
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const18153
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18384
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const18384
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const18577
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18584
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19113
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19113
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19113
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19113
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19154
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19154
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24737
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24737
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const37244
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const37245
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40386
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()52179
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const52182
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const52183
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()52185
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55467
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55467
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const57713
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const57713
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const72486
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const72505
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()73156
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()73169
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const73169
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const73169
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78243
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78694
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81220
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81368
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85378
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const85394
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149068
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149068
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()149568
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const149578
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const149580
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()149581
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const149594
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const149616
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()182157
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()182157
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const182157
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const182157
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const182159
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const182159
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const206600
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const206601
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()206602
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()206602
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212320
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212327
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214214
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)214972
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215281
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221498
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221558
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const231178
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const231178
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()249092
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const249094
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const249095
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()249096
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const269186
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const269188
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)313161
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)313264
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)350835
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)350870
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)358141
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)358259
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)396018
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)397784
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const426073
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const426097
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const447596
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()447730
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()447762
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const447809
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const468821
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const468882
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517145
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)555961
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)555982
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const579966
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const580464
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const581852
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const581859
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)683168
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)683582
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()805317
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const805326
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()805358
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const805405
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1006911
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1007442
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const1028612
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1028676
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1285505
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1285878
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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:9713174.0 %
Date:2024-10-08 22:31:24Functions:500114743.6 %
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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&)313161
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
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&)313264
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55467
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55467
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().231
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()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
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::setNoMessageTimeout(ros::Duration 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()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)358259
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()14442
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2209
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&)358141
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()14445
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2209
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::setNoMessageTimeout(ros::Duration 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&)214248
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3678
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2112
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&)214214
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3678
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2112
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)683582
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()206602
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
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&)683168
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()206602
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1285505
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()805317
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2652
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&)1285878
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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&)7
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()805358
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2652
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1007442
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()306
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2247
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&)1006911
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()306
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()182157
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2220
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&)214972
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()182157
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2220
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)397784
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()447730
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2425
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&)396018
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()447762
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2425
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)350870
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()52179
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
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&)350835
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()52185
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221558
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()785
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
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&)221498
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()785
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212320
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2115
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&)212327
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24737
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()799
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)24737
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()799
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)388
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()381
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)388
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()381
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)341
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
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&)341
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5586
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19113
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2355
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&)5570
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19113
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2355
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15873
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15873
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<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::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2108
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()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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::setNoMessageTimeout(ros::Duration 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()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149068
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()5
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)149068
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()5
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78694
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()73156
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
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&)78243
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()73169
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2126
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
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&)2126
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()10
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&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)555
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
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&)555
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1820
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)1820
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3121
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
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&)3121
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)91
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81368
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()149568
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
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&)81220
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()149581
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1821
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
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&)1821
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8251
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()91
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
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&)8243
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()90
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517202
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
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&)517145
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()4
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)555982
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()249092
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2334
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&)555961
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()249096
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2334
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19154
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40386
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
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&)19154
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration 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::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40386
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2216
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::getNumPublishers() 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]() const864
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
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::getNumPublishers() 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]() const432
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18584
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const14443
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const18577
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const14445
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]() const418
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::getNumPublishers() 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() const16737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3678
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const16737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3678
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]() const224
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const426097
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const206600
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const426073
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const206601
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]() const698
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1028676
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const805326
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]() const132
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const1028612
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const805405
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]() const1436
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18384
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const306
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() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const18384
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const306
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]() const494
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const182159
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const182157
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const182159
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const182157
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]() const440
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const468882
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const580464
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const447596
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() const468821
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const579966
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const447809
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]() const850
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const72505
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const52183
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const72486
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const52182
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]() const864
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const785
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() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const785
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]() const432
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::getNumPublishers() 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]() const230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const799
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const799
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]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const277
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const381
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() const277
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const381
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]() const216
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::getNumPublishers() 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]() const20
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::getNumPublishers() 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]() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const37245
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19113
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]() const111
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const37244
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19113
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]() const821
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
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::getNumPublishers() 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]() const216
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::getNumPublishers() 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]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const5
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const5
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]() const216
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85378
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const73169
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const85394
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const73169
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]() const926
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::getNumPublishers() 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]() const20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18153
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const18153
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]() const62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() 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::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() 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::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
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]() const62
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::getNumPublishers() 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]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const149594
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const149578
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]() const118
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const149616
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const149580
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]() const1044
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() 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::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() 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::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const92
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const90
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::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const92
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const91
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]() const18
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const231178
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const269186
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
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() const231178
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const269188
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const4
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]() const648
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const581852
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const249095
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]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const581859
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const249094
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]() const668
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const57713
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40386
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() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const57713
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40386
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]() const432
+
+
+ + + +
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..35381b6fed --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html @@ -0,0 +1,446 @@ + + + + + + + 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:9713174.0 %
Date:2024-10-08 22:31:24Functions:500114743.6 %
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        7090 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        7090 :         : m_nh(options.nh),
+      30        7090 :           m_topic_name(options.topic_name),
+      31        7090 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        7090 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        7090 :           m_queue_size(options.queue_size),
+      40        7090 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42             :       // initialize the callback for the TimeoutManager
+      43        7090 :       if (options.timeout_callback)
+      44           1 :         m_timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      45             :       else
+      46        7089 :         m_timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      47             : 
+      48        7090 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      49             :       {
+      50             :         // initialize a new TimeoutManager if not provided by the user
+      51          92 :         if (!m_timeout_manager)
+      52          92 :           m_timeout_manager = std::make_shared<mrs_lib::TimeoutManager>(m_nh, ros::Rate(options.no_message_timeout * 0.5));
+      53             : 
+      54             :         // register the timeout callback with the TimeoutManager
+      55          92 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, m_timeout_mgr_callback);
+      56             :       }
+      57             : 
+      58       21270 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      59        7090 :       if (m_node_name.empty())
+      60           1 :         ROS_INFO_STREAM(msg);
+      61             :       else
+      62        7089 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      63        7090 :     }
+      64             :     //}
+      65             : 
+      66        7090 :     virtual ~Impl() = default;
+      67             : 
+      68             :   public:
+      69             :     /* getMsg() method //{ */
+      70     2255439 :     virtual typename MessageType::ConstPtr getMsg()
+      71             :     {
+      72     2255439 :       m_new_data = false;
+      73     2255439 :       m_used_data = true;
+      74     2255439 :       return peekMsg();
+      75             :     }
+      76             :     //}
+      77             : 
+      78             :     /* peekMsg() method //{ */
+      79     2255527 :     virtual typename MessageType::ConstPtr peekMsg() const
+      80             :     {
+      81             :       /* assert(m_got_data); */
+      82             :       /* if (!m_got_data) */
+      83             :       /*   ROS_ERROR("[%s]: No data received yet from topic '%s' (forgot to check hasMsg()?)! Returning empty message.", m_node_name.c_str(), */
+      84             :       /*             topicName().c_str()); */
+      85     2255527 :       return m_latest_message;
+      86             :     }
+      87             :     //}
+      88             : 
+      89             :     /* hasMsg() method //{ */
+      90     3094689 :     virtual bool hasMsg() const
+      91             :     {
+      92     3094689 :       return m_got_data;
+      93             :     }
+      94             :     //}
+      95             : 
+      96             :     /* newMsg() method //{ */
+      97      579966 :     virtual bool newMsg() const
+      98             :     {
+      99      579966 :       return m_new_data;
+     100             :     }
+     101             :     //}
+     102             : 
+     103             :     /* usedMsg() method //{ */
+     104           0 :     virtual bool usedMsg() const
+     105             :     {
+     106           0 :       return m_used_data;
+     107             :     }
+     108             :     //}
+     109             : 
+     110             :     /* waitForNew() method //{ */
+     111           0 :     virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout)
+     112             :     {
+     113             :       // convert the ros type to chrono type
+     114           0 :       const std::chrono::duration<float> chrono_timeout(timeout.toSec());
+     115             :       // lock the mutex guarding the m_new_data flag
+     116           0 :       std::unique_lock lock(m_new_data_mtx);
+     117             :       // if new data is available, return immediately, otherwise attempt to wait for new data using the respective condition variable
+     118           0 :       if (m_new_data)
+     119           0 :         return getMsg();
+     120           0 :       else if (m_new_data_cv.wait_for(lock, chrono_timeout) == std::cv_status::no_timeout && m_new_data)
+     121           0 :         return getMsg();
+     122             :       else
+     123           0 :         return nullptr;
+     124             :     };
+     125             :     //}
+     126             : 
+     127             :     /* lastMsgTime() method //{ */
+     128      741095 :     virtual ros::Time lastMsgTime() const
+     129             :     {
+     130      741095 :       return m_latest_message_time;
+     131             :     };
+     132             :     //}
+     133             : 
+     134             :     /* topicName() method //{ */
+     135       14541 :     virtual std::string topicName() const
+     136             :     {
+     137       14541 :       std::string ret = m_sub.getTopic();
+     138       14541 :       if (ret.empty())
+     139       14180 :         ret = m_nh.resolveName(m_topic_name);
+     140       14541 :       return ret;
+     141             :     }
+     142             :     //}
+     143             : 
+     144             :     /* getNumPublishers() method //{ */
+     145           0 :     virtual uint32_t getNumPublishers() const
+     146             :     {
+     147           0 :       return m_sub.getNumPublishers();
+     148             :     };
+     149             :     //}
+     150             : 
+     151             :     /* setNoMessageTimeout() method //{ */
+     152           0 :     virtual void setNoMessageTimeout(const ros::Duration& timeout)
+     153             :     {
+     154           0 :       if (timeout == mrs_lib::no_timeout)
+     155             :       {
+     156             :         // if there is a timeout callback already registered but the user wants to disable it, pause it
+     157           0 :         if (m_timeout_manager != nullptr && m_timeout_id.has_value())
+     158           0 :           m_timeout_manager->pause(m_timeout_id.value());
+     159             :         // otherwise, there is no callback, so nothing to do
+     160             :       }
+     161             :       else
+     162             :       {
+     163             :         // if there is no callback manager, create it
+     164           0 :         if (m_timeout_manager == nullptr)
+     165           0 :           m_timeout_manager = std::make_shared<mrs_lib::TimeoutManager>(m_nh, ros::Rate(timeout * 0.5));
+     166             : 
+     167             :         // if there is an existing timeout callback registered, change its timeout
+     168           0 :         if (m_timeout_id.has_value())
+     169           0 :           m_timeout_manager->change(m_timeout_id.value(), timeout, m_timeout_mgr_callback);
+     170             :         // otherwise, register it
+     171             :         else
+     172           0 :           m_timeout_id = m_timeout_manager->registerNew(timeout, m_timeout_mgr_callback);
+     173             :       }
+     174           0 :     }
+     175             :     //}
+     176             : 
+     177             :     /* start() method //{ */
+     178        7094 :     virtual void start()
+     179             :     {
+     180        7094 :       if (m_timeout_manager && m_timeout_id.has_value())
+     181          96 :         m_timeout_manager->start(m_timeout_id.value());
+     182        7094 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     183        7094 :     }
+     184             :     //}
+     185             : 
+     186             :     /* stop() method //{ */
+     187           5 :     virtual void stop()
+     188             :     {
+     189           5 :       if (m_timeout_manager && m_timeout_id.has_value())
+     190           5 :         m_timeout_manager->pause(m_timeout_id.value());
+     191           5 :       m_sub.shutdown();
+     192           5 :     }
+     193             :     //}
+     194             : 
+     195             :   protected:
+     196             :     ros::NodeHandle m_nh;
+     197             :     ros::Subscriber m_sub;
+     198             : 
+     199             :   protected:
+     200             :     std::string m_topic_name;
+     201             :     std::string m_node_name;
+     202             : 
+     203             :   protected:
+     204             :     bool m_got_data;   // whether any data was received
+     205             : 
+     206             :     mutable std::mutex m_new_data_mtx;
+     207             :     mutable std::condition_variable m_new_data_cv;
+     208             :     bool m_new_data;   // whether new data was received since last call to get_data
+     209             : 
+     210             :     bool m_used_data;  // whether get_data was successfully called at least once
+     211             : 
+     212             :   protected:
+     213             :     std::shared_ptr<mrs_lib::TimeoutManager> m_timeout_manager;
+     214             :     std::optional<mrs_lib::TimeoutManager::timeout_id_t> m_timeout_id;
+     215             :     mrs_lib::TimeoutManager::callback_t m_timeout_mgr_callback;
+     216             : 
+     217             :   protected:
+     218             :     ros::Time m_latest_message_time;
+     219             :     typename MessageType::ConstPtr m_latest_message;
+     220             :     message_callback_t m_message_callback;
+     221             : 
+     222             :   private:
+     223             :     uint32_t m_queue_size;
+     224             :     ros::TransportHints m_transport_hints;
+     225             : 
+     226             :   protected:
+     227             :     /* default_timeout_callback() method //{ */
+     228           7 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     229             :     {
+     230           7 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     231           7 :       const auto n_pubs = m_sub.getNumPublishers();
+     232          21 :       const std::string txt = "Did not receive any message from topic '" + topic_name + "' for " + std::to_string(since_msg.toSec()) + "s ("
+     233             :                               + std::to_string(n_pubs) + " publishers on this topic)";
+     234           7 :       if (m_node_name.empty())
+     235           0 :         ROS_WARN_STREAM(txt);
+     236             :       else
+     237           7 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     238           7 :     }
+     239             :     //}
+     240             : 
+     241             :     /* process_new_message() method //{ */
+     242     6778174 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     243             :     {
+     244     6778174 :       m_latest_message_time = ros::Time::now();
+     245     6779387 :       m_latest_message = msg;
+     246             :       // If the message callback is registered, the new data will immediately be processed,
+     247             :       // so reset the flag. Otherwise, set the flag.
+     248     6781315 :       m_new_data = !m_message_callback;
+     249     6777013 :       m_got_data = true;
+     250     6777013 :       m_new_data_cv.notify_one();
+     251     6783601 :     }
+     252             :     //}
+     253             : 
+     254             :     /* data_callback() method //{ */
+     255           0 :     virtual void data_callback(const typename MessageType::ConstPtr& msg)
+     256             :     {
+     257             :       {
+     258           0 :         std::lock_guard lck(m_new_data_mtx);
+     259           0 :         if (m_timeout_manager && m_timeout_id.has_value())
+     260           0 :           m_timeout_manager->reset(m_timeout_id.value());
+     261           0 :         process_new_message(msg);
+     262             :       }
+     263             : 
+     264             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     265           0 :       if (m_message_callback)
+     266           0 :         m_message_callback(msg);
+     267           0 :     }
+     268             :     //}
+     269             :   };
+     270             :   //}
+     271             : 
+     272             :   /* SubscribeHandler_threadsafe class //{ */
+     273             :   template <typename MessageType>
+     274             :   class SubscribeHandler<MessageType>::ImplThreadsafe : public SubscribeHandler<MessageType>::Impl
+     275             :   {
+     276             :   private:
+     277             :     using impl_class_t = SubscribeHandler<MessageType>::Impl;
+     278             : 
+     279             :   public:
+     280             :     using timeout_callback_t = typename impl_class_t::timeout_callback_t;
+     281             :     using message_callback_t = typename impl_class_t::message_callback_t;
+     282             : 
+     283             :     friend class SubscribeHandler<MessageType>;
+     284             : 
+     285             :   public:
+     286        7090 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     287        7090 :         : impl_class_t::Impl(options, message_callback)
+     288             :     {
+     289        7090 :     }
+     290             : 
+     291             :   public:
+     292     3094757 :     virtual bool hasMsg() const override
+     293             :     {
+     294     6189450 :       std::lock_guard lck(m_mtx);
+     295     6189537 :       return impl_class_t::hasMsg();
+     296             :     }
+     297      580464 :     virtual bool newMsg() const override
+     298             :     {
+     299     1160292 :       std::lock_guard lck(m_mtx);
+     300     1159794 :       return impl_class_t::newMsg();
+     301             :     }
+     302           0 :     virtual bool usedMsg() const override
+     303             :     {
+     304           0 :       std::lock_guard lck(m_mtx);
+     305           0 :       return impl_class_t::usedMsg();
+     306             :     }
+     307     2255328 :     virtual typename MessageType::ConstPtr getMsg() override
+     308             :     {
+     309     4510658 :       std::lock_guard lck(m_mtx);
+     310     4510363 :       return impl_class_t::getMsg();
+     311             :     }
+     312     2255231 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     313             :     {
+     314     4510284 :       std::lock_guard lck(m_mtx);
+     315     4510207 :       return impl_class_t::peekMsg();
+     316             :     }
+     317      741156 :     virtual ros::Time lastMsgTime() const override
+     318             :     {
+     319     1482251 :       std::lock_guard lck(m_mtx);
+     320     1482268 :       return impl_class_t::lastMsgTime();
+     321             :     };
+     322         361 :     virtual std::string topicName() const override
+     323             :     {
+     324         722 :       std::lock_guard lck(m_mtx);
+     325         722 :       return impl_class_t::topicName();
+     326             :     };
+     327        7094 :     virtual void start() override
+     328             :     {
+     329       14188 :       std::lock_guard lck(m_mtx);
+     330       14188 :       return impl_class_t::start();
+     331             :     }
+     332           5 :     virtual void stop() override
+     333             :     {
+     334          10 :       std::lock_guard lck(m_mtx);
+     335          10 :       return impl_class_t::stop();
+     336             :     }
+     337             : 
+     338       14180 :     virtual ~ImplThreadsafe() override = default;
+     339             : 
+     340             :   protected:
+     341     6781659 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     342             :     {
+     343             :       {
+     344    13564454 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     345     6763853 :         if (this->m_timeout_manager && this->m_timeout_id.has_value())
+     346      169403 :           this->m_timeout_manager->reset(this->m_timeout_id.value());
+     347     6746818 :         impl_class_t::process_new_message(msg);
+     348             :       }
+     349             : 
+     350             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     351     6761482 :       if (this->m_message_callback)
+     352     3727508 :         impl_class_t::m_message_callback(msg);
+     353     6754265 :     }
+     354             : 
+     355             :   private:
+     356             :     mutable std::recursive_mutex m_mtx;
+     357             :   };
+     358             :   //}
+     359             : 
+     360             : }  // namespace mrs_lib
+     361             : 
+     362             : #endif  // SUBSCRIBE_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..c387463802 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html @@ -0,0 +1,111 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..70801f86e8741bd2798cde7ee5fdf5843d6796c3 GIT binary patch literal 1519 zcmVF##mn$3#|4LJ*w>h;0UPBU|^h zB$h_5W=Pv4S*mpna6%yX8L1>e7$JC|LcIJPe^cnuL?KQ0fq7oeWtXyC{Gxn!d^!N< z*=3NKT^?{=$Z9;$1Z*KDfF06FMKX&@4AK;)!D$W1sECjr@mV``&FotWZ|U>^>=>8` zgQAZqQD>q&A|GSbLs+zSp(}jjF?M`GgK_ab{}72BF=AmB>&j;gC{pADC^E?$1l?UnQq<6WQ07-)Jddca3QIr;b$(~>WtJv9@f zX~YAnvla)ygrlwSZ4=7(j16zS^r6}_wy&H2>iG-QGY$Z+*S_!DzOTpI`SN1c0l0C$ zQNY(8@$J1w zoIf%HIQDOubje+0L7o6cpA7@Dj2QE%Xmkq!HG_blo_LgrdxAXQQV(aDqMmJ|8p;SB z67y9i%siIndY(lP9y#9`nGiTJHsNWuE{_t^0MaY1paA7v?%|5fHK>fBFk;`46!z%g zb5B;7VS~-#b}0pH_oPYsioHFO;w*aeAHUf*3kn|}G@-(8Y7EVvQ8-_mT;lO|h2z%q z5HgHXrGPh0*_Aw|K9>~m$9W9Z$HRm?J*83e zOwxIH`53TNg?!l>i#TBiX`X-o7*KrDth~n-|B3&1T4CVWmG6>3K-+6;1Y5f>)r`81 zo)nxf{WpjmZ(N~sC>1@C24n6feFP|%nnO4L8mH(VEb8{dy5lbOnwrw`ez+_fu_Ka8fn#Z|Z z09?6I86KH%aih6WDXvn|%}`U5my#o-Z@bJnDFHQ1e&^~X4B@?NmH0+w0jc7?CfLif zs|-*lH5i?9<RVt88$IFR+TjW9bxFyzS9|24M|FJ?WMRKk002EuaGo<=?kms zudqz_LKV2l_9McyL9Yk{hR6*q{fIE^I8``pZjOAvCJc9|PzqxgJq!CfP~%?R^x2HXc|KgX_b3IL!yW(m73IA^yWEG&(d2C zVB~%!q;Ef83r}%WXzAZnG&Gn2KT$u*o2j7aH*DScy>nsc{mcH&Pqt3wz%vR5_Xi6z VixoZDtP21D002ovPDHLkV1oL?!xjJl literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html new file mode 100644 index 0000000000..6d23917ba5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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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Generated by: LCOV version 1.14
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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..179ff77255 --- /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 + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html new file mode 100644 index 0000000000..25b7f54de2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html new file mode 100644 index 0000000000..44bfef9852 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html @@ -0,0 +1,180 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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             :   void setCallback(const std::function<void(const ros::TimerEvent&)>& callback);
+      41             : 
+      42             :   friend class ThreadTimer;
+      43             : 
+      44             :   // to keep rule of five since we have a custom destructor
+      45             :   Impl(const Impl&) = delete;
+      46             :   Impl(Impl&&) = delete;
+      47             :   Impl& operator=(const Impl&) = delete;
+      48             :   Impl& operator=(Impl&&) = delete;
+      49             : 
+      50             : private:
+      51             :   std::thread thread_;
+      52             :   std::function<void(const ros::TimerEvent&)> callback_;
+      53             : 
+      54             :   bool oneshot_;
+      55             : 
+      56             :   bool breakableSleep(const ros::Time& until);
+      57             :   void threadFcn();
+      58             : 
+      59             :   std::mutex mutex_wakeup_;
+      60             :   std::condition_variable wakeup_cond_;
+      61             :   std::recursive_mutex mutex_state_;
+      62             :   bool running_;
+      63             :   ros::Duration delay_dur_;
+      64             :   bool ending_;
+      65             :   ros::Time next_expected_;
+      66             :   ros::Time last_expected_;
+      67             :   ros::Time last_real_;
+      68             : 
+      69             : };
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* ThreadTimer constructors and destructors//{ */
+      74             : 
+      75             : template <class ObjectType>
+      76           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&),
+      77             :                          ObjectType* const obj, const bool oneshot, const bool autostart)
+      78           8 :   : ThreadTimer(nh, rate.expectedCycleTime(), callback, obj, oneshot, autostart)
+      79             : {
+      80           8 : }
+      81             : 
+      82             : template <class ObjectType>
+      83           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Duration& duration,
+      84           8 :                          void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj, bool oneshot, const bool autostart) 
+      85             : {
+      86           8 :   const auto cbk = std::bind(callback, obj, std::placeholders::_1);
+      87           8 :   if (duration == ros::Duration(0))
+      88           0 :     oneshot = true;
+      89           8 :   this->impl_ = std::make_unique<Impl>(cbk, duration, oneshot);
+      90           8 :   if (autostart)
+      91           0 :     this->impl_->start();
+      92           8 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : #endif  // MRS_TIMER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..fcb66ffefa --- /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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+ + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5eaff0c12ba0f0ee0c40adf9de476fcd7273979a GIT binary patch literal 532 zcmV+v0_**WP)WYG+H!gJy;wixEWkN+2HI)NNz7^h?e(6ei$EBmECa$YZdPbo z&&?9qN!l`6XNE9?C@%|f+=+O+hxoa^dC8|ovlXdJZ8P5Mb^}htY{=^O2l4r0f>@&z zs8-G-GtlRs7WS8Q4Naj!VYlL#*dr>O}oC~oA&GPcoS+nZ3=NZ9cU>_BRGE{}RklLXi&dpW;c zBPdq`J%+YgIsodmKUOYNAghxH_$}Pe8ijGBtP>l>ErpzMWuQ`Sl)LSv@r6H4l4sjS zx9^Ei-P+t!q)t6)>`2qi&SnbFW}=WM6nrvUXlj^Fio7N%@i_Cs-1BmH0tK`Cf-@K| zG8cLl(@=qVKn&f+P2+K#=lS`>-!T-NNCQh?%^=ZVsQ0Nei5g|Z{u?uHY__wee90dK WkIr@^1TfP80000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp - functions + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:424887.5 %
Legend: Lines: + hit + not hit +
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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::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<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
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&)91
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)91
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&)822
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&)21012
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&)21012
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)21012
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&)26001
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)26001
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&)100618
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&)107182
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&)197806
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)197806
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&)246898
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&)272592
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&)272869
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&)272899
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)298807
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&)646620
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&)647013
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&)692985
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&)834274
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&)834424
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)834520
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&)835182
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&)835272
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)844574
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&)890790
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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:2024-10-08 22:31:24Functions:424887.5 %
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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&)692985
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&)246898
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&)835182
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&)890790
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&)272899
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&)835272
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&)197806
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&)26001
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&)91
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&)647013
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&)646620
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&)272592
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&)272869
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&)834274
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&)834424
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&)21012
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&)21012
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)844574
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)298807
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)834520
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)21012
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)197806
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)26001
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)91
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&)107182
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&)822
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&)100618
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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:2024-10-08 22:31:24Functions:424887.5 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       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     1998913 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1998913 :     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      223898 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      223898 :     msg.header = header;
+      35      223898 :   }
+      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      223898 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      223898 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      447796 :       std_msgs::Header new_header = getHeader(what);
+      54      223898 :       new_header.frame_id = frame_id;
+      55      223898 :       setHeader(ret, new_header);
+      56             :     }
+      57      223898 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1999004 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     3997996 :     const std::string from_frame = frame_from(tf);
+      68     3997955 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1998990 :     if (from_frame == to_frame)
+      71      223898 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     3550206 :     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      939893 :       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      939890 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        4288 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        2145 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        2145 :         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      835208 :       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     1772954 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1775106 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     3550119 :       T result;
+     120     1775087 :       tf2::doTransform(what, result, tf);
+     121     1775090 :       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     1774925 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     3550681 :     const std_msgs::Header orig_header = getHeader(what);
+     141     3550212 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1774892 :   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     3550643 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1775777 :     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     3551525 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     3551497 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     3551520 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     3551528 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1775780 :     if (!tf_opt.has_value())
+     162       12757 :       return std::nullopt;
+     163     1762999 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     3525982 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1763008 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      208640 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      417280 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      208640 :     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      417280 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      417280 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      417280 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      208640 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
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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:2024-10-08 22:31:24Functions: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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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:2024-10-08 22:31:24Functions: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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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:2024-10-08 22:31:24Functions:81266.7 %
Legend: Lines: + hit + not hit +
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+
          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
+
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:1818100.0 %
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html new file mode 100644 index 0000000000..694a4c60ec --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/vector_converter.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-10-08 22:31:24Functions:1818100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-10-08 22:31:24Functions:1818100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file vector_converter.hpp
+       2             :      \brief Implements the convertTo() and convertFrom() functions for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       3             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       4             :  */
+       5             : #ifndef VECTOR_CONVERTER_HPP
+       6             : #define VECTOR_CONVERTER_HPP
+       7             : 
+       8             : #include <experimental/type_traits>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   namespace impl
+      13             :   {
+      14             :     using unw_t = std::tuple<double, double, double>;
+      15             : 
+      16             :     /* SFINAE magic - only for black wizards! //{ */
+      17             :     
+      18             :     #define GENERATE_HAS_MEMBER_FUNC(func, rettype)                                \
+      19             :     template<class T> using _has_##func##fun_chk =                                 \
+      20             :           decltype(std::declval<T &>().func());                                    \
+      21             :     template<class T> constexpr bool has_##func##fun_v =                           \
+      22             :           std::experimental::is_detected_convertible_v<rettype, _has_##func##fun_chk, T>;
+      23             :     
+      24             :     #define GENERATE_HAS_MEMBER(memb, type)                                        \
+      25             :     template<class T> using _has_##memb##mem_chk =                                 \
+      26             :           decltype(std::declval<T &>().memb);                                      \
+      27             :     template<class T> constexpr bool has_##memb##mem_v =                           \
+      28             :           std::experimental::is_detected_convertible_v<type, _has_##memb##mem_chk, T>;
+      29             :     
+      30             :     GENERATE_HAS_MEMBER_FUNC(x, double)
+      31             :     GENERATE_HAS_MEMBER(x, double)
+      32             : 
+      33             :     template<class T> using _has_squarebracket_operator_chk = decltype(std::declval<T &>()[0]);
+      34             :     template<class T> constexpr bool has_squarebracket_operator_v = std::experimental::is_detected_convertible_v<double, _has_squarebracket_operator_chk, T>;
+      35             : 
+      36             :     template<class T> constexpr bool has_xyz_constructor_v = std::experimental::is_constructible_v<T, double, double, double>;
+      37             :     
+      38             :     //}
+      39             : 
+      40             :     // convertFrom specialization for Eigen types
+      41             :     template <typename in_t>
+      42          28 :     std::enable_if_t<has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      43             :     {
+      44          28 :       return {in.x(), in.y(), in.z()};
+      45             :     }
+      46             : 
+      47             :     // convertFrom specialization for plain member types
+      48             :     template <typename in_t>
+      49          28 :     std::enable_if_t<has_xmem_v<in_t>, unw_t> convertFrom(const in_t& in)
+      50             :     {
+      51          28 :       return {in.x, in.y, in.z};
+      52             :     }
+      53             : 
+      54             :     // convertFrom specialization for OpenCV vectors
+      55             :     template <typename in_t>
+      56          28 :     std::enable_if_t<has_squarebracket_operator_v<in_t> && !has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      57             :     {
+      58          28 :       return {in[0], in[1], in[2]};
+      59             :     }
+      60             : 
+      61             :     // convertTo specialization for types with a constructor that takes three doubles
+      62             :     template <typename ret_t>
+      63          70 :     std::enable_if_t<has_xyz_constructor_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      64             :     {
+      65          70 :       out = {x, y, z};
+      66          70 :     }
+      67             : 
+      68             :     // convertTo specialization for other types
+      69             :     template <typename ret_t>
+      70          14 :     std::enable_if_t<!has_xyz_constructor_v<ret_t> && has_xmem_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      71             :     {
+      72          14 :       out.x = x;
+      73          14 :       out.y = y;
+      74          14 :       out.z = z;
+      75          14 :     }
+      76             : 
+      77             :     template <typename ret_t>
+      78          48 :     ret_t convertTo(const double x, const double y, const double z)
+      79             :     {
+      80          48 :       ret_t ret;
+      81          48 :       convertTo(ret, x, y, z);
+      82          48 :       return ret;
+      83             :     }
+      84             : 
+      85             :   }  // namespace impl
+      86             : 
+      87             : }  // namespace mrs_lib
+      88             : 
+      89             : #endif // VECTOR_CONVERTER_HPP
+
+
+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:78198879.0 %
Date:2024-10-08 22:31:24Functions:851147257.8 %
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
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
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
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11145.5 %20 / 44
<unnamed>90.1 %100 / 11145.5 %20 / 44
subscribe_handler.h +
86.3%86.3%
+ 		86.3 %44 / 5146.2 %398 / 862
<unnamed>86.3 %44 / 5146.2 %398 / 862
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5453.2 %25 / 47
<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
85.2%85.2%
+ 		85.2 %23 / 2781.8 %9 / 11
<unnamed>85.2 %23 / 2781.8 %9 / 11
mutex.h +
100.0%
+ 		100.0 %11 / 1183.8 %67 / 80
<unnamed>100.0 %11 / 1183.8 %67 / 80
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.2 %118 / 119
<unnamed>100.0 %4 / 499.2 %118 / 119
timeout_manager.h +
80.0%80.0%
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<unnamed>80.0 %4 / 5-0 / 0
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
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<unnamed>100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
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+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %24 / 24
<unnamed>100.0 %3 / 3100.0 %24 / 24
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
param_loader.h +
90.3%90.3%
+ 		90.3 %271 / 300100.0 %78 / 78
<unnamed>90.3 %271 / 300100.0 %78 / 78
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:78198879.0 %
Date:2024-10-08 22:31:24Functions:851147257.8 %
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
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
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 +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
timeout_manager.h +
80.0%80.0%
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<unnamed>80.0 %4 / 5-0 / 0
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5453.2 %25 / 47
<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
85.2%85.2%
+ 		85.2 %23 / 2781.8 %9 / 11
<unnamed>85.2 %23 / 2781.8 %9 / 11
subscribe_handler.h +
86.3%86.3%
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<unnamed>86.3 %44 / 5146.2 %398 / 862
repredictor.h +
90.1%90.1%
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param_loader.h +
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service_client_handler.h +
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<unnamed>100.0 %3 / 3100.0 %24 / 24
quadratic_throttle_model.h +
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<unnamed>100.0 %4 / 4100.0 %2 / 2
publisher_handler.h +
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<unnamed>100.0 %4 / 499.2 %118 / 119
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vector_converter.h +
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<unnamed>100.0 %5 / 5100.0 %36 / 36
mutex.h +
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dynamic_reconfigure_mgr.h +
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<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
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<unnamed>76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
msg_extractor.h +
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<unnamed>33.3 %33 / 9934.1 %15 / 44
mutex.h +
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<unnamed>90.3 %271 / 300100.0 %78 / 78
publisher_handler.h +
100.0%
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<unnamed>100.0 %4 / 499.2 %118 / 119
quadratic_throttle_model.h +
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<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
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scope_timer.h +
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service_client_handler.h +
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ukf.h +
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utils.h +
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ukf.h +
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dynamic_reconfigure_mgr.h +
65.5%65.5%
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Date:2024-10-08 22:31:24Functions:851147257.8 %
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scope_timer.h +
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msg_extractor.h +
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dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
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timeout_manager.h +
80.0%80.0%
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81.5%81.5%
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attitude_converter.h +
85.2%85.2%
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subscribe_handler.h +
86.3%86.3%
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90.1%90.1%
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param_loader.h +
90.3%90.3%
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visual_object.h +
100.0%
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service_client_handler.h +
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quadratic_throttle_model.h +
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publisher_handler.h +
100.0%
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timer.h +
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vector_converter.h +
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mutex.h +
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utils.h +
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Date:2024-10-08 22:31:24Functions:851147257.8 %
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attitude_converter.h +
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+ 		85.2 %23 / 2781.8 %9 / 11
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 / 5453.2 %25 / 47
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
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param_loader.h +
90.3%90.3%
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publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.2 %118 / 119
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11145.5 %20 / 44
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 %24 / 24
subscribe_handler.h +
86.3%86.3%
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timeout_manager.h +
80.0%80.0%
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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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vector_converter.h +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
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<3, 1, 1>::LKF()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<6, 2, 2>::LKF()0
mrs_lib::varstepLKF<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) const0
mrs_lib::varstepLKF<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) const0
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&)115
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&)202
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5850
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&) const5850
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&) const5850
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&) const5850
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&)15831
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)15831
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) const15831
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)194676
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) const194682
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&)194703
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)224749
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&) const225056
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&) const225287
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&) const225304
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&)333013
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) const333331
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)333396
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)519436
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&) const521609
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&) const521617
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&) const521634
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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:2024-10-08 22:31:24Functions:254753.2 %
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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
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
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&)15831
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)15831
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5850
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&)333013
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)333396
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)519436
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&)202
mrs_lib::LKF<3, 1, 1>::LKF()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
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&)194703
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)194676
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)224749
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&)115
mrs_lib::LKF<6, 2, 2>::LKF()0
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) const15831
mrs_lib::varstepLKF<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) const0
mrs_lib::varstepLKF<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) const0
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&) const5850
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&) const5850
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&) const5850
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&) const521609
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&) const521617
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&) const521634
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) const333331
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&) const225304
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&) const225287
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&) const225056
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) const194682
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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:2024-10-08 22:31:24Functions:254753.2 %
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         317 :     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      752540 :     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      752540 :       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      528013 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      528013 :       statecov_t ret;
+     141      527224 :       ret.x = state_predict(A, sc.x, B, u);
+     142      527260 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      527269 :       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      543903 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      543903 :       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      543547 :     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      543547 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      750035 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      750035 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      752275 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       52112 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       52160 :         W += 1e-9 * ident;
+     185       52233 :         qr.compute(W);
+     186       52248 :         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      748029 :       const R_t W_inv = qr.inverse();
+     193     1503954 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      752754 :     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      752754 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      752242 :       const R_t W_inv = invert_W(W);
+     203      752256 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204     1503380 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      752763 :     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      752763 :       statecov_t ret;
+     214      752231 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      751863 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      752199 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217     1503808 :       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       15831 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       15831 :       statecov_t ret;
+     319       15831 :       A_t A = m_generateA(dt);
+     320       15831 :       B_t B = m_generateB(dt);
+     321       15831 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       15831 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       31662 :       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..2c217072be --- /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:339933.3 %
Date:2024-10-08 22:31:24Functions:154434.1 %
Legend: Lines: + hit + not hit +
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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::TrackerCommand_<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::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::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1817
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246412
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246413
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246413
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246414
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246415
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246416
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246416
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246416
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)247104
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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..56592f40ed --- /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:339933.3 %
Date:2024-10-08 22:31:24Functions:154434.1 %
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&)246413
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246414
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&)246413
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246412
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246416
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246416
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&)246416
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246415
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&)247104
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&)1817
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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..7c3fc16bba --- /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:339933.3 %
Date:2024-10-08 22:31:24Functions:154434.1 %
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      247104 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      247104 :   double x = data.x;
+      32      247104 :   double y = data.y;
+      33      247104 :   double z = data.z;
+      34             : 
+      35      494204 :   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      246416 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      246416 :   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      246414 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      246414 :   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      246416 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      246416 :   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      246413 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      246413 :   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      246415 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      246415 :   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      246416 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      246416 :   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      246412 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      246412 :   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      246413 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      246413 :   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        1817 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449        1817 :   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         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         344 :   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         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         344 :   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         344 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         344 :   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         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         344 :   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         344 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         344 :   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
+
+
+
+ + + + +
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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..8043ecf807c268d9ebf3ec73e92b93e3796c8069 GIT binary patch literal 1287 zcmV+i1^D`jP)o6G8|QE17xcIDPQ~O}I%wnMSorb!w5W z0Y!DQCakha+q@xH*lxd^|F-j=&QM(1pFiEYu!)Tr=-RiB`&d+9L}*2{sBI|FFr12D z9}Ps**N^XGBATa9-HYGtB}|XjE7fZGp0&-MU3~y zLwt28Vw=vzJ;CfTj(Z+oiqUxIVNwc_du-_?agUWt8H(7Zb8!!+tu>-BvZwjuL8lZF z_W=BI9qwUdp480VsfcYl8}}d-qy2I8d18`3+Vb&2kyV_fh;2F>_aGEgZ0)l5U8}gP z>t;OloV>cwE*D6123-0OUKcJx&&|AwB62gAtu<36*qS4=uXUkU?ob!nLAyBj|LCDIBo5(3y(=!tqZvj(|3Ff^Oxrygkox~V3rHN<&Ti95B4t4JqSex zTOaIQ>q0I>{^!l))rGbqw&^Q8!G@|8270X^`{@VM)(o-mdQXQL}`1POm8-^ zau49yAH}3S&Fy7RBgD~S;nnsu8QvOV<(}-ecG#O}Yrvk@$$RANX*%yM&pimmgnh2{ zElNAYkz(P+_B5^g%X1GxF>z1RviDv0G+W+^E7~8`?vdSkILz*ox?h&(p74<3*8qAr z`Ju%^P_cO49&vWC!xZr7{R2%1_Tc+-T~z=8002ovPDHLkV1gERfj9sF literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html new file mode 100644 index 0000000000..256633d601 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html @@ -0,0 +1,400 @@ + + + + + + + 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:2024-10-08 22:31:24Functions:678083.8 %
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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::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<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::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<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&)39
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)108
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> >&)161
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)216
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)217
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)434
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)822
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1100
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> >&)2472
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&)4635
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9376
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&)12424
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)15605
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&)16140
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17042
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)19002
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&)19555
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)21991
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&)23381
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)27965
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&)33123
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> >&)37425
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)58743
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&)81017
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)81174
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83565
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&)87248
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> >&)89286
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)111147
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> >&)155227
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159232
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)165730
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>&)194587
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&)206449
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&)207958
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&)214013
auto mrs_lib::set_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)229847
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>&)230970
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> >&)249972
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>&)256561
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>&)267601
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)290486
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&)312164
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>&)331632
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&)344900
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&)345248
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&)380585
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> >&)415917
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&)419730
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&)419865
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> >&)571127
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&)627036
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> > >&)721228
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)751699
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)825913
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&)853912
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&)855238
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)993526
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1026729
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1055819
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> >&)1083444
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1226272
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1788271
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&)2628933
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&)2678429
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&)2889972
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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.func.html b/mrs_lib/include/mrs_lib/mutex.h.func.html new file mode 100644 index 0000000000..66a453e17b --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func.html @@ -0,0 +1,400 @@ + + + + + + + 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:2024-10-08 22:31:24Functions:678083.8 %
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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&)81017
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>&)256561
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&)344900
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>&)230970
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&)12424
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)21991
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17042
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)27965
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&)23381
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)15605
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&)2678429
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&)206449
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&)627036
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&)214013
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&)312164
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&)207958
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&)380585
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&)2628933
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&)2889972
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&)19555
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&)345248
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)751699
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)825913
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83565
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&)87248
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&)33123
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159232
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)58743
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)39
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)993526
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>&)331632
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>&)194587
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>&)267601
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)434
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1100
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)822
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)290486
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> >&)81174
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)1
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)165730
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1055819
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&)855238
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&)419730
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> >&)89286
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> >&)249972
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> > >&)721228
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)19002
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1788271
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9376
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1026729
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)111147
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&)16140
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&)4635
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)216
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)217
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)108
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> >&)155227
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> >&)2472
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> >&)571127
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> >&)161
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> >&)1083444
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> >&)415917
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&)853912
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&)419865
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> >&)37425
auto mrs_lib::set_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)229847
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1226272
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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..f4c8bd08a6 --- /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:2024-10-08 22:31:24Functions:678083.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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     1031856 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     2063712 :   std::scoped_lock lock(mut);
+      51             : 
+      52     1031856 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     2063712 :   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    21071648 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    34295059 :   std::scoped_lock lock(mut);
+      71             : 
+      72    42141982 :   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     5128132 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     9001447 :   std::scoped_lock lock(mut);
+     119             : 
+     120     5118859 :   where = what;
+     121             : 
+     122    10250697 :   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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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.gcov.overview.html b/mrs_lib/include/mrs_lib/mutex.h.gcov.overview.html new file mode 100644 index 0000000000..3b0784eb80 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.gcov.overview.html @@ -0,0 +1,64 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.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 + + +
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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:27130090.3 %
Date:2024-10-08 22:31:24Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)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
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<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)1
bool mrs_lib::ParamLoader::loadMatrixStatic<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>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<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::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::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::loadMatrixDynamic<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::Matrix<double, -1, -1, 0, -1, -1>&, 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
bool 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&)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
std::pair<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>, bool> 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
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<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)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&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
bool 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&)2
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
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&)2
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)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&)3
bool 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>&)3
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_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
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
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
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
std::pair<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>, bool> 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)6
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)6
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
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&)8
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> 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)10
mrs_lib::ParamLoader::resetUniques()20
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> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
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)87
bool 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)89
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 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<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)108
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(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_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)108
std::pair<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 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)108
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> 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)199
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)432
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_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)432
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&)540
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> 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)745
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&)749
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)864
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&)1188
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)1188
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> >&)1188
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1832
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2175
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2896
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&)3795
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)3796
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> > > >&)3796
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4218
mrs_lib::ParamLoader::loadedSuccessfully()4732
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)5473
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)5473
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5473
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6923
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12133
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12823
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> >&)17933
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&)18513
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)18513
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19746
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)19746
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43503
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44367
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)44367
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)93847
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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:27130090.3 %
Date:2024-10-08 22:31:24Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
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&)540
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
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&)3795
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&)18513
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19746
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&)749
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&)1188
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44367
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&)8
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)5473
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12133
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> 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)745
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> 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)10
mrs_lib::ParamLoader::resetUniques()20
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)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
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)432
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<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)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
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, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<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)1
bool mrs_lib::ParamLoader::loadMatrixStatic<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>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 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<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)108
bool 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>&)3
bool 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&)2
bool mrs_lib::ParamLoader::loadMatrixStatic<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::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::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::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)89
bool mrs_lib::ParamLoader::loadMatrixDynamic<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::Matrix<double, -1, -1, 0, -1, -1>&, 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
bool 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
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(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_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)108
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&)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>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)87
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
mrs_lib::ParamLoader::loadedSuccessfully()4732
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2896
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)93847
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
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
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_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)432
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_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::pair<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>, bool> 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<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 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)108
std::pair<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>, bool> 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)6
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> 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)199
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)6
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)18513
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)3796
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)1188
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)19746
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)44367
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)5473
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
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&)2
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> >&)17933
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> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
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> > > >&)3796
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> >&)1188
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12823
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6923
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43503
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)864
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5473
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2175
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1832
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4218
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LCOV - code coverage report
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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:27130090.3 %
Date:2024-10-08 22:31:24Functions:7878100.0 %
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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           7 :   void printError(const std::string& str)
+      77             :   {
+      78           7 :     if (m_node_name.empty())
+      79           7 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82           7 :   }
+      83           1 :   void print_warning(const std::string& str)
+      84             :   {
+      85           1 :     if (m_node_name.empty())
+      86           1 :       ROS_WARN_STREAM(str);
+      87             :     else
+      88           0 :       ROS_WARN_STREAM("[" << m_node_name << "]: " << str);
+      89           1 :   }
+      90             :   //}
+      91             : 
+      92             :   /* printValue function and overloads //{ */
+      93             : 
+      94             :   template <typename T>
+      95       88099 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       88099 :     if (m_node_name.empty())
+      98       48840 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       39258 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       88099 :   }
+     102             : 
+     103             :   template <typename T>
+     104        4983 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        9966 :     std::stringstream strstr;
+     107        4983 :     if (m_node_name.empty())
+     108        2408 :       strstr << "\t";
+     109        4983 :     strstr << name << ":\t";
+     110        4983 :     size_t it = 0;
+     111       17407 :     for (const auto& elem : value)
+     112             :     {
+     113       12424 :       strstr << elem;
+     114       12424 :       if (it < value.size() - 1)
+     115        7996 :         strstr << ", ";
+     116       12424 :       it++;
+     117             :     }
+     118        4983 :     if (m_node_name.empty())
+     119        2408 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        2575 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        4983 :   }
+     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         757 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148        1514 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        2271 :     const Eigen::IOFormat fmt;
+     152         757 :     strstr << value.format(fmt);
+     153         757 :     if (m_node_name.empty())
+     154         109 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         648 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         757 :   }
+     158             : 
+     159           5 :   std::string printValue_recursive(const std::string& name, XmlRpc::XmlRpcValue& value, unsigned depth = 0)
+     160             :   {
+     161          10 :     std::stringstream strstr;
+     162           8 :     for (unsigned it = 0; it < depth; it++)
+     163           3 :       strstr << "\t";
+     164           5 :     strstr << name << ":";
+     165           5 :     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           3 :       default:
+     189             :         {
+     190           3 :           strstr << "\t" << value;
+     191           3 :           break;
+     192             :         }
+     193             :     }
+     194          10 :     return strstr.str();
+     195             :   }
+     196             : 
+     197           3 :   void printValue(const std::string& name, XmlRpc::XmlRpcValue& value)
+     198             :   {
+     199           6 :     const std::string txt = printValue_recursive(name, value);
+     200           3 :     if (m_node_name.empty())
+     201           3 :       std::cout << txt << std::endl;
+     202             :     else
+     203           0 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << txt);
+     204           3 :   }
+     205             : 
+     206             :   //}
+     207             :   
+     208           5 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210           5 :     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       93847 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       93847 :     if (m_loaded_params.count(name))
+     218             :     {
+     219           2 :       printError(std::string("Tried to load parameter ") + name + std::string(" twice"));
+     220           2 :       m_load_successful = false;
+     221           2 :       return true;
+     222             :     } else
+     223             :     {
+     224       93845 :       return false;
+     225             :     }
+     226             :   }
+     227             :   //}
+     228             : 
+     229             :   /* helper functions for loading dynamic Eigen matrices //{ */
+     230             :   // loadMatrixX helper function for loading dynamic Eigen matrices //{
+     231             :   template <typename T>
+     232         755 :   std::pair<MatrixX<T>, bool> 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)
+     233             :   {
+     234        1510 :     const std::string name_prefixed = m_prefix + name;
+     235        1510 :     MatrixX<T> loaded = default_value;
+     236         755 :     bool used_rosparam_value = false;
+     237             :     // first, check if the user already tried to load this parameter
+     238         755 :     if (unique && check_duplicit_loading(name_prefixed))
+     239           0 :       return {loaded, used_rosparam_value};
+     240             : 
+     241             :     // this function only accepts dynamic columns (you can always transpose the matrix afterward)
+     242         755 :     if (rows < 0)
+     243             :     {
+     244             :       // if the parameter was compulsory, alert the user and set the flag
+     245           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed));
+     246           0 :       m_load_successful = false;
+     247           0 :       return {loaded, used_rosparam_value};
+     248             :     }
+     249         755 :     const bool expect_zero_matrix = rows == 0;
+     250         755 :     if (expect_zero_matrix)
+     251             :     {
+     252           1 :       if (cols > 0)
+     253             :       {
+     254           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + ". One dimension indicates zero matrix, but other expects non-zero.");
+     255           0 :         m_load_successful = false;
+     256           0 :         return {loaded, used_rosparam_value};
+     257             :       }
+     258             :     }
+     259             : 
+     260         755 :     bool cur_load_successful = true;
+     261         755 :     bool check_size_exact = true;
+     262         755 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     263         197 :       check_size_exact = false;
+     264             : 
+     265        1510 :     std::vector<T> tmp_vec;
+     266             :     // try to load the parameter
+     267         755 :     const bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     268             :     // check if the loaded vector has correct length
+     269         755 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     270         755 :     if (!check_size_exact && !expect_zero_matrix)
+     271         196 :       correct_size = (int)tmp_vec.size() % rows == 0;  // if the cols dimension is dynamic, the size just has to be divisable by rows
+     272             : 
+     273         755 :     if (success && correct_size)
+     274             :     {
+     275             :       // if successfully loaded, everything is in order
+     276             :       // transform the vector to the matrix
+     277         638 :       if (cols <= 0 && rows > 0)
+     278         196 :         cols = tmp_vec.size() / rows;
+     279         638 :       if (swap)
+     280          87 :         std::swap(rows, cols);
+     281         638 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     282         638 :       used_rosparam_value = true;
+     283             :     } else
+     284             :     {
+     285         117 :       if (success && !correct_size)
+     286             :       {
+     287             :         // warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)
+     288           3 :         std::string warning =
+     289             :             std::string("Matrix parameter ") + name_prefixed
+     290             :             + std::string(" could not be loaded because the vector has a wrong length " + std::to_string(tmp_vec.size()) + " instead of expected ");
+     291             :         // process the message correctly based on whether the loaded matrix should be dynamic or static
+     292           1 :         if (cols <= 0)  // for dynamic matrices
+     293           0 :           warning = warning + std::string("number divisible by ") + std::to_string(rows);
+     294             :         else  // for static matrices
+     295           1 :           warning = warning + std::to_string(rows * cols);
+     296           1 :         print_warning(warning);
+     297             :       }
+     298             :       // if it was not loaded, the default value is used (set at the beginning of the function)
+     299         117 :       if (!optional)
+     300             :       {
+     301             :         // if the parameter was compulsory, alert the user and set the flag
+     302           3 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     303           3 :         cur_load_successful = false;
+     304             :       }
+     305             :     }
+     306             : 
+     307             :     // check if load was a success
+     308         755 :     if (cur_load_successful)
+     309             :     {
+     310         752 :       if (m_print_values && printValues)
+     311         747 :         printValue(name_prefixed, loaded);
+     312         752 :       m_loaded_params.insert(name_prefixed);
+     313             :     } else
+     314             :     {
+     315           3 :       m_load_successful = false;
+     316             :     }
+     317             :     // finally, return the resulting value
+     318         755 :     return {loaded, used_rosparam_value};
+     319             :   }
+     320             :   //}
+     321             : 
+     322             :   /* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */
+     323             :   template <int rows, int cols, typename T>
+     324         115 :   std::pair<Eigen::Matrix<T, rows, cols>, bool> loadMatrixStatic_internal(const std::string& name, const Eigen::Matrix<T, rows, cols>& default_value, optional_t optional, unique_t unique)
+     325             :   {
+     326         345 :     const auto [dynamic, loaded_ok] = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     327         230 :     return {dynamic, loaded_ok};
+     328             :   }
+     329             :   //}
+     330             : 
+     331             :   /* loadMatrixKnown_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     332             :   template <typename T>
+     333         436 :   std::pair<MatrixX<T>, bool> loadMatrixKnown_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     334             :   {
+     335         872 :     MatrixX<T> loaded = default_value;
+     336             :     // first, check that at least one dimension is set
+     337         436 :     if (rows <= 0 || cols <= 0)
+     338             :     {
+     339           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (use loadMatrixDynamic?)"));
+     340           0 :       m_load_successful = false;
+     341           0 :       return {loaded, false};
+     342             :     }
+     343             : 
+     344         436 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);
+     345             :   }
+     346             :   //}
+     347             : 
+     348             :   /* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */
+     349             :   template <typename T>
+     350         199 :   std::pair<MatrixX<T>, bool> loadMatrixDynamic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     351             :   {
+     352         398 :     MatrixX<T> loaded = default_value;
+     353             : 
+     354             :     // next, check that at least one dimension is set
+     355         199 :     if (rows <= 0 && cols <= 0)
+     356             :     {
+     357           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (at least one dimension must be specified)"));
+     358           0 :       m_load_successful = false;
+     359           0 :       return {loaded, false};
+     360             :     }
+     361             : 
+     362         199 :     swap_t swap = NO_SWAP;
+     363         199 :     if (rows <= 0)
+     364             :     {
+     365          87 :       std::swap(rows, cols);
+     366          87 :       swap = SWAP;
+     367             :     }
+     368         199 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, swap);
+     369             :   }
+     370             :   //}
+     371             :   //}
+     372             : 
+     373             :   /* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */
+     374             :   template <typename T>
+     375           5 :   std::vector<MatrixX<T>> loadMatrixArray_internal(const std::string& name, const std::vector<MatrixX<T>>& default_value, optional_t optional, unique_t unique)
+     376             :   {
+     377          10 :     const std::string name_prefixed = m_prefix + name;
+     378             :     int rows;
+     379          10 :     std::vector<int> cols;
+     380           5 :     bool success = true;
+     381           5 :     success = success && m_pp.getParam(name_prefixed + "/rows", rows);
+     382           5 :     success = success && m_pp.getParam(name_prefixed + "/cols", cols);
+     383             : 
+     384          10 :     std::vector<MatrixX<T>> loaded;
+     385           5 :     loaded.reserve(cols.size());
+     386             : 
+     387           5 :     int total_cols = 0;
+     388             :     /* check correctness of loaded parameters so far calculate the total dimension //{ */
+     389             : 
+     390           5 :     if (!success)
+     391             :     {
+     392           0 :       printError(std::string("Failed to load ") + resolved(name_prefixed) + std::string("/rows or ") + resolved(name_prefixed) + std::string("/cols"));
+     393           0 :       m_load_successful = false;
+     394           0 :       return default_value;
+     395             :     }
+     396           5 :     if (rows < 0)
+     397             :     {
+     398           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     399           0 :       m_load_successful = false;
+     400           0 :       return default_value;
+     401             :     }
+     402          15 :     for (const auto& col : cols)
+     403             :     {
+     404          10 :       if (col < 0)
+     405             :       {
+     406           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     407           0 :         m_load_successful = false;
+     408           0 :         return default_value;
+     409             :       }
+     410          10 :       total_cols += col;
+     411             :     }
+     412             :     
+     413             :     //}
+     414             : 
+     415          15 :     const auto [loaded_matrix, loaded_ok] = loadMatrixX(name + "/data", MatrixX<T>(), rows, total_cols, optional, unique, NO_SWAP, false);
+     416             :     /* std::cout << "loaded_matrix: " << loaded_matrix << std::endl; */
+     417             :     /* std::cout << "loaded_matrix: " << loaded_matrix.rows() << "x" << loaded_matrix.cols() << std::endl; */
+     418             :     /* std::cout << "expected dims: " << rows << "x" << total_cols << std::endl; */
+     419           5 :     if (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)
+     420             :     {
+     421           0 :       m_load_successful = false;
+     422           0 :       return default_value;
+     423             :     }
+     424             : 
+     425           5 :     int cols_loaded = 0;
+     426          15 :     for (unsigned it = 0; it < cols.size(); it++)
+     427             :     {
+     428          10 :       const int cur_cols = cols.at(it);
+     429          10 :       const MatrixX<T> cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);
+     430             :       /* std::cout << "cur_mat: " << cur_mat << std::endl; */
+     431          10 :       loaded.push_back(cur_mat);
+     432          10 :       cols_loaded += cur_cols;
+     433          10 :       printValue(name_prefixed + "/matrix#" + std::to_string(it), cur_mat);
+     434             :     }
+     435           5 :     return loaded;
+     436             :   }
+     437             :   //}
+     438             : 
+     439             :   /* load helper function for generic types //{ */
+     440             :   // This function tries to load a parameter with name 'name' and a default value.
+     441             :   // You can use the flag 'optional' to not throw a ROS_ERROR when the parameter
+     442             :   // cannot be loaded and the flag 'printValues' to set whether the loaded
+     443             :   // value and name of the parameter should be printed to cout.
+     444             :   // If 'optional' is set to false and the parameter could not be loaded,
+     445             :   // the flag 'load_successful' is set to false and a ROS_ERROR message
+     446             :   // is printer.
+     447             :   // If 'unique' flag is set to false then the parameter is not checked
+     448             :   // for being loaded twice.
+     449             :   // Returns a tuple, containing either the loaded or the default value and a bool,
+     450             :   // indicating if the value was loaded (true) or the default value was used (false).
+     451             :   template <typename T>
+     452       93089 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     453             :   {
+     454      186178 :     const std::string name_prefixed = m_prefix + name;
+     455      116592 :     T loaded = default_value;
+     456       93089 :     if (unique && check_duplicit_loading(name_prefixed))
+     457           2 :       return {loaded, false};
+     458             : 
+     459       93087 :     bool cur_load_successful = true;
+     460             :     // try to load the parameter
+     461       93087 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     462       93087 :     if (!success)
+     463             :     {
+     464             :       // if it was not loaded, set the default value
+     465        2183 :       loaded = default_value;
+     466        2183 :       if (!optional)
+     467             :       {
+     468             :         // if the parameter was compulsory, alert the user and set the flag
+     469           2 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     470           2 :         cur_load_successful = false;
+     471             :       }
+     472             :     }
+     473             : 
+     474       93086 :     if (cur_load_successful)
+     475             :     {
+     476             :       // everything is fine and just print the name_prefixed and value if required
+     477       93084 :       if (m_print_values)
+     478       93082 :         printValue(name_prefixed, loaded);
+     479             :       // mark the param name_prefixed as successfully loaded
+     480       93087 :       m_loaded_params.insert(name_prefixed);
+     481             :     } else
+     482             :     {
+     483           2 :       m_load_successful = false;
+     484             :     }
+     485             :     // finally, return the resulting value
+     486       93087 :     return {loaded, success};
+     487             :   }
+     488             :   //}
+     489             : 
+     490             : public:
+     491             :   /*!
+     492             :     * \brief Main constructor.
+     493             :     *
+     494             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     495             :     * \param printValues  If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty.
+     496             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     497             :     */
+     498        4218 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     499        4218 :       : m_load_successful(true),
+     500             :         m_print_values(printValues),
+     501             :         m_node_name(node_name),
+     502             :         m_nh(nh),
+     503        4218 :         m_pp(nh, m_node_name)
+     504             :   {
+     505             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     506        4218 :   }
+     507             : 
+     508             :   /* Constructor overloads //{ */
+     509             :   /*!
+     510             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, node_name);
+     511             :     *
+     512             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     513             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     514             :     */
+     515        1832 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     516        1832 :       : ParamLoader(nh, true, node_name)
+     517             :   {
+     518             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     519        1832 :   }
+     520             : 
+     521             :   /*!
+     522             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, "node_name");
+     523             :     *
+     524             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     525             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     526             :     */
+     527             :   ParamLoader(const std::string& filepath, const ros::NodeHandle& nh)
+     528             :     : ParamLoader(nh, "none")
+     529             :   {
+     530             :     YAML::Node node = YAML::Load(filepath);
+     531             :   }
+     532             :   //}
+     533             : 
+     534             :   /* setPrefix function //{ */
+     535             :   
+     536             :   /*!
+     537             :     * \brief All loaded parameters will be prefixed with this string.
+     538             :     *
+     539             :     * \param prefix  the prefix to be applied to all loaded parameters from now on.
+     540             :     */
+     541        2175 :   void setPrefix(const std::string& prefix)
+     542             :   {
+     543        2175 :     m_prefix = prefix;
+     544        2175 :   }
+     545             :   
+     546             :   //}
+     547             : 
+     548             :   /* getPrefix function //{ */
+     549             :   
+     550             :   /*!
+     551             :     * \brief Returns the current parameter name prefix.
+     552             :     *
+     553             :     * \return the current prefix to be applied to the loaded parameters.
+     554             :     */
+     555             :   std::string getPrefix()
+     556             :   {
+     557             :     return m_prefix;
+     558             :   }
+     559             :   
+     560             :   //}
+     561             : 
+     562             :   /* addYamlFile() function //{ */
+     563             :   
+     564             :   /*!
+     565             :     * \brief Adds the specified file as a source of static parameters.
+     566             :     *
+     567             :     * \param filepath The full path to the yaml file to be loaded.
+     568             :     * \return true if loading and parsing the file was successful, false otherwise.
+     569             :     */
+     570       12133 :   bool addYamlFile(const std::string& filepath)
+     571             :   {
+     572       12133 :     return m_pp.addYamlFile(filepath);
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* addYamlFileFromParam() function //{ */
+     577             :   
+     578             :   /*!
+     579             :     * \brief Loads a filepath from a parameter loads that file as a YAML.
+     580             :     *
+     581             :     * \param param_name Name of the parameter from which to load the YAML filename to be loaded.
+     582             :     * \return true      if loading and parsing the file was successful, false otherwise.
+     583             :     */
+     584        2896 :   bool addYamlFileFromParam(const std::string& param_name)
+     585             :   {
+     586        5792 :     std::string filepath;
+     587        2896 :     if (!loadParam(param_name, filepath))
+     588           0 :       return false;
+     589        2896 :     return m_pp.addYamlFile(filepath);
+     590             :   }
+     591             :   //}
+     592             : 
+     593             :   /* loadedSuccessfully function //{ */
+     594             :   /*!
+     595             :     * \brief Indicates whether all compulsory parameters were successfully loaded.
+     596             :     *
+     597             :     * \return false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true.
+     598             :     */
+     599        4732 :   bool loadedSuccessfully()
+     600             :   {
+     601        4732 :     return m_load_successful;
+     602             :   }
+     603             :   //}
+     604             : 
+     605             :   /* resetLoadedSuccessfully function //{ */
+     606             :   /*!
+     607             :     * \brief Resets the loadedSuccessfully flag back to true.
+     608             :     */
+     609           3 :   void resetLoadedSuccessfully()
+     610             :   {
+     611           3 :     m_load_successful = true;
+     612           3 :   }
+     613             :   //}
+     614             : 
+     615             :   /* resetUniques function //{ */
+     616             :   /*!
+     617             :     * \brief Resets the list of already loaded parameter names used when checking for uniqueness.
+     618             :     */
+     619          20 :   void resetUniques()
+     620             :   {
+     621          20 :     m_loaded_params.clear();
+     622          20 :   }
+     623             :   //}
+     624             : 
+     625             :   /* loadParam function for optional parameters //{ */
+     626             :   /*!
+     627             :     * \brief Loads a parameter from the rosparam server with a default value.
+     628             :     *
+     629             :     * 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),
+     630             :     * the default value is used.
+     631             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     632             :     *
+     633             :     * \param name          Name of the parameter in the rosparam server.
+     634             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     635             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     636             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     637             :     */
+     638             :   template <typename T>
+     639        7828 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     640             :   {
+     641        7828 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     642        7828 :     out_value = ret;
+     643        7869 :     return success;
+     644             :   }
+     645             :   /*!
+     646             :     * \brief Loads a parameter from the rosparam server with a default value.
+     647             :     *
+     648             :     * 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),
+     649             :     * the default value is used.
+     650             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     651             :     *
+     652             :     * \param name          Name of the parameter in the rosparam server.
+     653             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     654             :     * \return              The loaded parameter value.
+     655             :     */
+     656             :   template <typename T>
+     657         541 :   T loadParam2(const std::string& name, const T& default_value)
+     658             :   {
+     659        1082 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     660        1082 :     return loaded.first;
+     661             :   }
+     662             :   /*!
+     663             :     * \brief Loads a parameter from the rosparam server with a default value.
+     664             :     *
+     665             :     * 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),
+     666             :     * the default value is used.
+     667             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     668             :     *
+     669             :     * \param name          Name of the parameter in the rosparam server.
+     670             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     671             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     672             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     673             :     */
+     674             :   template <typename T>
+     675             :   bool loadParamReusable(const std::string& name, T& out_value, const T& default_value)
+     676             :   {
+     677             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     678             :     out_value = ret;
+     679             :     return success;
+     680             :   }
+     681             :   /*!
+     682             :     * \brief Loads an optional reusable parameter from the rosparam server.
+     683             :     *
+     684             :     * 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),
+     685             :     * the default value is used.
+     686             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     687             :     *
+     688             :     * \param name          Name of the parameter in the rosparam server.
+     689             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     690             :     * \return              The loaded parameter value.
+     691             :     */
+     692             :   template <typename T>
+     693             :   T loadParamReusable2(const std::string& name, const T& default_value)
+     694             :   {
+     695             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     696             :     return ret;
+     697             :   }
+     698             :   //}
+     699             : 
+     700             :   /* loadParam function for compulsory parameters //{ */
+     701             :   /*!
+     702             :     * \brief Loads a compulsory parameter from the rosparam server.
+     703             :     *
+     704             :     * 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),
+     705             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     706             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     707             :     *
+     708             :     * \param name          Name of the parameter in the rosparam server.
+     709             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     710             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     711             :     */
+     712             :   template <typename T>
+     713       84719 :   bool loadParam(const std::string& name, T& out_value)
+     714             :   {
+     715      107639 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     716       84719 :     out_value = ret;
+     717      107639 :     return success;
+     718             :   }
+     719             :   /*!
+     720             :     * \brief Loads a compulsory parameter from the rosparam server.
+     721             :     *
+     722             :     * 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),
+     723             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     724             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     725             :     *
+     726             :     * \param name          Name of the parameter in the rosparam server.
+     727             :     * \return              The loaded parameter value.
+     728             :     */
+     729             :   template <typename T>
+     730             :   T loadParam2(const std::string& name)
+     731             :   {
+     732             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     733             :     return ret;
+     734             :   }
+     735             :   /*!
+     736             :     * \brief Loads a compulsory parameter from the rosparam server.
+     737             :     *
+     738             :     * 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),
+     739             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     740             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     741             :     *
+     742             :     * \param name          Name of the parameter in the rosparam server.
+     743             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     744             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     745             :     */
+     746             :   template <typename T>
+     747           1 :   bool loadParamReusable(const std::string& name, T& out_value)
+     748             :   {
+     749           2 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     750           1 :     out_value = ret;
+     751           2 :     return success;
+     752             :   }
+     753             :   /*!
+     754             :     * \brief Loads a compulsory parameter from the rosparam server.
+     755             :     *
+     756             :     * 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),
+     757             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     758             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     759             :     *
+     760             :     * \param name          Name of the parameter in the rosparam server.
+     761             :     * \return              The loaded parameter value.
+     762             :     */
+     763             :   template <typename T>
+     764             :   T loadParamReusable2(const std::string& name)
+     765             :   {
+     766             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     767             :     return ret;
+     768             :   }
+     769             :   //}
+     770             : 
+     771             :   /* loadParam specializations for ros::Duration type //{ */
+     772             : 
+     773             :   /*!
+     774             :     * \brief An overload for loading ros::Duration.
+     775             :     *
+     776             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     777             :     *
+     778             :     * \param name          Name of the parameter in the rosparam server.
+     779             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     780             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     781             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     782             :     */
+     783             :   bool loadParam(const std::string& name, ros::Duration& out, const ros::Duration& default_value)
+     784             :   {
+     785             :     double secs;
+     786             :     const bool ret = loadParam<double>(name, secs, default_value.toSec());
+     787             :     out = ros::Duration(secs);
+     788             :     return ret;
+     789             :   }
+     790             : 
+     791             :   /*!
+     792             :     * \brief An overload for loading ros::Duration.
+     793             :     *
+     794             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     795             :     *
+     796             :     * \param name          Name of the parameter in the rosparam server.
+     797             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     798             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     799             :     */
+     800             :   bool loadParam(const std::string& name, ros::Duration& out)
+     801             :   {
+     802             :     double secs;
+     803             :     const bool ret = loadParam<double>(name, secs);
+     804             :     out = ros::Duration(secs);
+     805             :     return ret;
+     806             :   }
+     807             :   
+     808             :   //}
+     809             : 
+     810             :   /* loadParam specializations for std_msgs::ColorRGBA type //{ */
+     811             : 
+     812             :   /*!
+     813             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     814             :     *
+     815             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     816             :     *
+     817             :     * \param name          Name of the parameter in the rosparam server.
+     818             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     819             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     820             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     821             :     */
+     822             :   bool loadParam(const std::string& name, std_msgs::ColorRGBA& out, const std_msgs::ColorRGBA& default_value = {})
+     823             :   {
+     824             :     std_msgs::ColorRGBA res;
+     825             :     bool ret = true;
+     826             :     ret = ret & loadParam(name+"/r", res.r, default_value.r);
+     827             :     ret = ret & loadParam(name+"/g", res.g, default_value.g);
+     828             :     ret = ret & loadParam(name+"/b", res.b, default_value.b);
+     829             :     ret = ret & loadParam(name+"/a", res.a, default_value.a);
+     830             :     if (ret)
+     831             :       out = res;
+     832             :     return ret;
+     833             :   }
+     834             : 
+     835             :   /*!
+     836             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     837             :     *
+     838             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     839             :     *
+     840             :     * \param name          Name of the parameter in the rosparam server.
+     841             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     842             :     * \return              The loaded parameter value.
+     843             :     */
+     844             :   std_msgs::ColorRGBA loadParam2(const std::string& name, const std_msgs::ColorRGBA& default_value = {})
+     845             :   {
+     846             :     std_msgs::ColorRGBA ret;
+     847             :     loadParam(name, ret, default_value);
+     848             :     return ret;
+     849             :   }
+     850             : 
+     851             :   //}
+     852             : 
+     853             :   /* loadParam specializations for XmlRpc::Value type //{ */
+     854             : 
+     855             :   /*!
+     856             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     857             :     *
+     858             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     859             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     860             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     861             :     *
+     862             :     * \param name          Name of the parameter in the rosparam server.
+     863             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     864             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     865             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     866             :     */
+     867           2 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out, const XmlRpc::XmlRpcValue& default_value)
+     868             :   {
+     869           2 :     return loadParam<XmlRpc::XmlRpcValue>(name, out, default_value);
+     870             :   }
+     871             : 
+     872             :   /*!
+     873             :     * \brief An overload for loading a compulsory XmlRpc::XmlRpcValue.
+     874             :     *
+     875             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     876             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     877             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     878             :     *
+     879             :     * \param name          Name of the parameter in the rosparam server.
+     880             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     881             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     882             :     */
+     883           3 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out)
+     884             :   {
+     885           3 :     return loadParam<XmlRpc::XmlRpcValue>(name, out);
+     886             :   }
+     887             : 
+     888             :   /*!
+     889             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     890             :     *
+     891             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     892             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     893             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     894             :     *
+     895             :     * \param name          Name of the parameter in the rosparam server.
+     896             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     897             :     * \return              the loaded parameter.
+     898             :     */
+     899           1 :   XmlRpc::XmlRpcValue loadParam2(const std::string& name, const XmlRpc::XmlRpcValue& default_value)
+     900             :   {
+     901           1 :     return loadParam2<XmlRpc::XmlRpcValue>(name, default_value);
+     902             :   }
+     903             : 
+     904             :   //}
+     905             : 
+     906             :   /* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */
+     907             : 
+     908             :   /*!
+     909             :     * \brief An overload for loading Eigen matrices.
+     910             :     *
+     911             :     * Matrix dimensions are deduced from the provided default value.
+     912             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     913             :     * 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),
+     914             :     * the default value is used.
+     915             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     916             :     *
+     917             :     * \param name          Name of the parameter in the rosparam server.
+     918             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     919             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     920             :     * \return              True if loaded successfully, false otherwise.
+     921             :     */
+     922             :   template <typename T>
+     923             :   bool loadParam(const std::string& name, MatrixX<T>& mat, const MatrixX<T>& default_value)
+     924             :   {
+     925             :     const int rows = default_value.rows();
+     926             :     const int cols = default_value.cols();
+     927             :     const bool loaded_ok = loadMatrixDynamic(name, mat, default_value, rows, cols);
+     928             :     return loaded_ok;
+     929             :   }
+     930             : 
+     931             :   /*!
+     932             :     * \brief An overload for loading Eigen matrices.
+     933             :     *
+     934             :     * Matrix dimensions are deduced from the provided default value.
+     935             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     936             :     * 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),
+     937             :     * the default value is used.
+     938             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     939             :     *
+     940             :     * \param name          Name of the parameter in the rosparam server.
+     941             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     942             :     * \return              The loaded parameter value.
+     943             :     */
+     944             :   template <typename T>
+     945             :   MatrixX<T> loadParam2(const std::string& name, const MatrixX<T>& default_value)
+     946             :   {
+     947             :     MatrixX<T> ret;
+     948             :     loadParam(name, ret, default_value);
+     949             :     return ret;
+     950             :   }
+     951             :   
+     952             :   //}
+     953             : 
+     954             :   // loadMatrixStatic function for loading of static Eigen::Matrices //{
+     955             : 
+     956             :   /*!
+     957             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     958             :     *
+     959             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     960             :     * 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).
+     961             :     * 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),
+     962             :     * the loading process is unsuccessful.
+     963             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     964             :     *
+     965             :     * \tparam rows  Expected number of rows of the matrix.
+     966             :     * \tparam cols  Expected number of columns of the matrix.
+     967             :     *
+     968             :     * \param name  Name of the parameter in the rosparam server.
+     969             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     970             :     * \return      true if loaded successfully, false otherwise.
+     971             :     *
+     972             :     */
+     973             :   template <int rows, int cols, typename T>
+     974           4 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat)
+     975             :   {
+     976           4 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>::Zero(), COMPULSORY, UNIQUE);
+     977           4 :     mat = ret;
+     978           4 :     return loaded_ok;
+     979             :   }
+     980             : 
+     981             :   /*!
+     982             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+     983             :     *
+     984             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     985             :     * 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).
+     986             :     * 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),
+     987             :     * the default value is used.
+     988             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     989             :     *
+     990             :     * \tparam rows          Expected number of rows of the matrix.
+     991             :     * \tparam cols          Expected number of columns of the matrix.
+     992             :     *
+     993             :     * \param name          Name of the parameter in the rosparam server.
+     994             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     995             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     996             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     997             :     *
+     998             :     */
+     999             :   template <int rows, int cols, typename T, typename Derived>
+    1000         111 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+    1001             :   {
+    1002         111 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1003         111 :     mat = ret;
+    1004         111 :     return loaded_ok;
+    1005             :   }
+    1006             : 
+    1007             :   /*!
+    1008             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1009             :     *
+    1010             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    1011             :     * 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).
+    1012             :     * 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),
+    1013             :     * the loading process is unsuccessful.
+    1014             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1015             :     *
+    1016             :     * \tparam rows  Expected number of rows of the matrix.
+    1017             :     * \tparam cols  Expected number of columns of the matrix.
+    1018             :     *
+    1019             :     * \param name  Name of the parameter in the rosparam server.
+    1020             :     * \return      The loaded parameter value.
+    1021             :     *
+    1022             :     */
+    1023             :   template <int rows, int cols, typename T = double>
+    1024           2 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name)
+    1025             :   {
+    1026           2 :     Eigen::Matrix<T, rows, cols> ret;
+    1027           2 :     loadMatrixStatic(name, ret);
+    1028           2 :     return ret;
+    1029             :   }
+    1030             : 
+    1031             :   /*!
+    1032             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1033             :     *
+    1034             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    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 default value is used.
+    1038             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1039             :     *
+    1040             :     * \tparam rows          Expected number of rows of the matrix.
+    1041             :     * \tparam cols          Expected number of columns of the matrix.
+    1042             :     *
+    1043             :     * \param name          Name of the parameter in the rosparam server.
+    1044             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1045             :     * \return              The loaded parameter value.
+    1046             :     *
+    1047             :     */
+    1048             :   template <int rows, int cols, typename T, typename Derived>
+    1049           1 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value)
+    1050             :   {
+    1051           1 :     Eigen::Matrix<T, rows, cols> ret;
+    1052           1 :     loadMatrixStatic(name, ret, default_value);
+    1053           1 :     return ret;
+    1054             :   }
+    1055             :   //}
+    1056             : 
+    1057             :   // loadMatrixKnown function for loading of Eigen matrices with known dimensions //{
+    1058             : 
+    1059             :   /*!
+    1060             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1061             :     *
+    1062             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1063             :     * 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).
+    1064             :     * 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),
+    1065             :     * the loading process is unsuccessful.
+    1066             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1067             :     *
+    1068             :     * \param name  Name of the parameter in the rosparam server.
+    1069             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1070             :     * \param rows  Expected number of rows of the matrix.
+    1071             :     * \param cols  Expected number of columns of the matrix.
+    1072             :     * \return      true if loaded successfully, false otherwise.
+    1073             :     */
+    1074             :   template <typename T>
+    1075         434 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1076             :   {
+    1077         868 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1078         434 :     mat = ret;
+    1079         868 :     return loaded_ok;
+    1080             :   }
+    1081             : 
+    1082             :   /*!
+    1083             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1084             :     *
+    1085             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1086             :     * 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).
+    1087             :     * 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),
+    1088             :     * the default value is used.
+    1089             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1090             :     *
+    1091             :     * \param name          Name of the parameter in the rosparam server.
+    1092             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1093             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1094             :     * \param rows          Expected number of rows of the matrix.
+    1095             :     * \param cols          Expected number of columns of the matrix.
+    1096             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1097             :     */
+    1098             :   template <typename T, typename Derived>
+    1099           2 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1100             :   {
+    1101           4 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1102           2 :     mat = ret;
+    1103           4 :     return loaded_ok;
+    1104             :   }
+    1105             : 
+    1106             :   /*!
+    1107             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1108             :     *
+    1109             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1110             :     * 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).
+    1111             :     * 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),
+    1112             :     * the loading process is unsuccessful.
+    1113             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1114             :     *
+    1115             :     * \param name  Name of the parameter in the rosparam server.
+    1116             :     * \param rows  Expected number of rows of the matrix.
+    1117             :     * \param cols  Expected number of columns of the matrix.
+    1118             :     * \return      The loaded parameter value.
+    1119             :     */
+    1120             :   template <typename T = double>
+    1121           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, int rows, int cols)
+    1122             :   {
+    1123           1 :     MatrixX<T> ret;
+    1124           1 :     loadMatrixKnown(name, ret, rows, cols);
+    1125           1 :     return ret;
+    1126             :   }
+    1127             : 
+    1128             :   /*!
+    1129             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1130             :     *
+    1131             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1132             :     * 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).
+    1133             :     * 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),
+    1134             :     * the default value is used.
+    1135             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1136             :     *
+    1137             :     * \param name          Name of the parameter in the rosparam server.
+    1138             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1139             :     * \param rows          Expected number of rows of the matrix.
+    1140             :     * \param cols          Expected number of columns of the matrix.
+    1141             :     * \return              The loaded parameter value.
+    1142             :     */
+    1143             :   template <typename T, typename Derived>
+    1144           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1145             :   {
+    1146           1 :     MatrixX<T> ret;
+    1147           1 :     loadMatrixKnown(name, ret, default_value, rows, cols);
+    1148           1 :     return ret;
+    1149             :   }
+    1150             :   //}
+    1151             : 
+    1152             :   // loadMatrixDynamic function for half-dynamic loading of MatrixX<T> //{
+    1153             : 
+    1154             :   /*!
+    1155             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1156             :     *
+    1157             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1158             :     * 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).
+    1159             :     * 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),
+    1160             :     * the loading process is unsuccessful.
+    1161             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1162             :     *
+    1163             :     * \param name  Name of the parameter in the rosparam server.
+    1164             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1165             :     * \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).
+    1166             :     * \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).
+    1167             :     * \return      true if loaded successfully, false otherwise.
+    1168             :     */
+    1169             :   template <typename T>
+    1170          89 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1171             :   {
+    1172         178 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1173          89 :     mat = ret;
+    1174         178 :     return loaded_ok;
+    1175             :   }
+    1176             : 
+    1177             :   /*!
+    1178             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1179             :     *
+    1180             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1181             :     * 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).
+    1182             :     * 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),
+    1183             :     * the default value is used.
+    1184             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1185             :     *
+    1186             :     * \param name          Name of the parameter in the rosparam server.
+    1187             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1188             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1189             :     * \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).
+    1190             :     * \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).
+    1191             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1192             :     */
+    1193             :   template <typename T, typename Derived>
+    1194         110 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1195             :   {
+    1196         220 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1197         110 :     mat = ret;
+    1198         220 :     return loaded_ok;
+    1199             :   }
+    1200             : 
+    1201             :   /*!
+    1202             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1203             :     *
+    1204             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1205             :     * 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).
+    1206             :     * 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),
+    1207             :     * the loading process is unsuccessful.
+    1208             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1209             :     *
+    1210             :     * \param name  Name of the parameter in the rosparam server.
+    1211             :     * \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).
+    1212             :     * \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).
+    1213             :     * \return      The loaded parameter value.
+    1214             :     */
+    1215             :   template <typename T = double>
+    1216          87 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1217             :   {
+    1218          87 :     MatrixX<T> ret;
+    1219          87 :     loadMatrixDynamic(name, ret, rows, cols);
+    1220          87 :     return ret;
+    1221             :   }
+    1222             : 
+    1223             :   /*!
+    1224             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1225             :     *
+    1226             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1227             :     * 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).
+    1228             :     * 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),
+    1229             :     * the default value is used.
+    1230             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1231             :     *
+    1232             :     * \param name          Name of the parameter in the rosparam server.
+    1233             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1234             :     * \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).
+    1235             :     * \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).
+    1236             :     * \return              The loaded parameter value.
+    1237             :     */
+    1238             :   template <typename T, typename Derived>
+    1239           1 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1240             :   {
+    1241           1 :     MatrixX<T> ret;
+    1242           1 :     loadMatrixDynamic(name, ret, default_value, rows, cols);
+    1243           1 :     return ret;
+    1244             :   }
+    1245             : 
+    1246             :   //}
+    1247             : 
+    1248             :   // loadMatrixArray function for loading of an array of MatrixX<T> with known dimensions //{
+    1249             :   /*!
+    1250             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1251             :     *
+    1252             :     * 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
+    1253             :     * 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
+    1254             :     * 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
+    1255             :     * \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$-th matrix.
+    1256             :     * A typical structure of a \c yaml file, specifying the
+    1257             :     * matrix array to be loaded using this method, is
+    1258             :     *
+    1259             :     * \code{.yaml}
+    1260             :     *
+    1261             :     * matrix_array:
+    1262             :     *   rows: 3
+    1263             :     *   cols: [1, 2]
+    1264             :     *   data: [-5.0, 0.0, 23.0,
+    1265             :     *          -5.0, 0.0, 12.0,
+    1266             :     *           2.0,   4.0,  7.0]
+    1267             :     *
+    1268             :     * \endcode
+    1269             :     *
+    1270             :     * which will be loaded as a \c std::vector, containing one \f$ 3\times 1 \f$ matrix and one \f$ 3\times 2 \f$ matrix.
+    1271             :     *
+    1272             :     * 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).
+    1273             :     * 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),
+    1274             :     * the loading process is unsuccessful.
+    1275             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1276             :     *
+    1277             :     * \param name  Name of the parameter in the rosparam server.
+    1278             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1279             :     *
+    1280             :     */
+    1281             :   template <typename T>
+    1282           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat)
+    1283             :   {
+    1284           1 :     mat = loadMatrixArray2<double>(name);
+    1285           1 :   }
+    1286             : 
+    1287             :   /*!
+    1288             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1289             :     *
+    1290             :     * 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
+    1291             :     * found in the \c rosparam server, instead of causing an unsuccessful load. This makes specifying the parameter value in the \c rosparam server optional.
+    1292             :     *
+    1293             :     * \param name           Name of the parameter in the rosparam server.
+    1294             :     * \param mat            Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1295             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1296             :     *
+    1297             :     */
+    1298             :   template <typename T>
+    1299           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat, const std::vector<MatrixX<T>>& default_value)
+    1300             :   {
+    1301           1 :     mat = loadMatrixArray2(name, default_value);
+    1302           1 :   }
+    1303             : 
+    1304             :   /*!
+    1305             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1306             :     *
+    1307             :     * This method works in the same way as the loadMatrixArray() method for compulsory parameters, except that the loaded
+    1308             :     * parameter is returned and not stored in the reference parameter.
+    1309             :     *
+    1310             :     * \param name           Name of the parameter in the rosparam server.
+    1311             :     * \returns              The loaded parameter or a default constructed object of the respective type.
+    1312             :     *
+    1313             :     */
+    1314             :   template <typename T = double>
+    1315           3 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name)
+    1316             :   {
+    1317           3 :     return loadMatrixArray_internal(name, std::vector<MatrixX<T>>(), COMPULSORY, UNIQUE);
+    1318             :   }
+    1319             : 
+    1320             :   /*!
+    1321             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1322             :     *
+    1323             :     * This method works in the same way as the loadMatrixArray() method for optional parameters, except that the loaded
+    1324             :     * parameter is returned and not stored in the reference parameter.
+    1325             :     *
+    1326             :     * \param name           Name of the parameter in the rosparam server.
+    1327             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1328             :     * \returns              The loaded parameter or the default value.
+    1329             :     *
+    1330             :     */
+    1331             :   template <typename T>
+    1332           2 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name, const std::vector<MatrixX<T>>& default_value)
+    1333             :   {
+    1334           2 :     return loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);
+    1335             :   }
+    1336             :   //}
+    1337             : 
+    1338             :   //}
+    1339             : 
+    1340             : };
+    1341             : //}
+    1342             : 
+    1343             :   /*!
+    1344             :     * \brief An overload for loading ros::Duration.
+    1345             :     *
+    1346             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1347             :     *
+    1348             :     * \param name          Name of the parameter in the rosparam server.
+    1349             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1350             :     * \return              The loaded parameter value.
+    1351             :     */
+    1352             :   template <>
+    1353             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name, const ros::Duration& default_value);
+    1354             : 
+    1355             :   /*!
+    1356             :     * \brief An overload for loading ros::Duration.
+    1357             :     *
+    1358             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1359             :     *
+    1360             :     * \param name          Name of the parameter in the rosparam server.
+    1361             :     * \return              The loaded parameter value.
+    1362             :     */
+    1363             :   template <>
+    1364             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name);
+    1365             : 
+    1366             : }  // namespace mrs_lib
+    1367             : 
+    1368             : #endif  // PARAM_LOADER_H
+
+
+
+ + + + +
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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..a4d4e2202f27269e5f25a66abde48f1cb954de81 GIT binary patch literal 4406 zcmV-65y|d}P)?dmV;-Eh=eLQB(e%tMAqI2=3>TAChE z6XB?B!BO9Imv2F+82;!2@QoQAj zkZ*hw+~lD>kBvuS_ys)H7n4V__?8Tj14BX9V)A&?$??GD*tSgA3lD6N#b*AEqjsTa z*s(Q>FI^&ZLG;^$kUUBuzJO5&9u0r8XjMUvArLy4CJh32(&l-_<3&-IavBKMTUI zudn~;`u>T(e*XLZ?|Xgy^F^0oFn2MS8O2m1JXbs&?)${EiUp+f6JLMr6OWG4itvP2 zH$=IPqtfivR3ZMqrv*=R(mm$#qP)jOKAATu>%Uhv`2;r54`wgIVP>gTZTeHG(3soVzSj z(~53d24hz)@q63Kk;;|&bgptiEYOSqI9#Jxg%Un5B4Asl4<3TrBg-2i4Kbe z?N3BPugQ?8L=gksHlZy$!y3n0`gE=Mm9q0N>MFAwHLdHWJ{7l2VaV$m^}guiUJ)@v zp@ND+PE=&i$?YHaTr*jh(>#}Sk_W;8t06yBE< zcFoH|GF@tfx+o>GBy|`PF4*Kuan(JBR`-HXDi|RsP41pPcIQM8YUQ|{nFh>kGc)(Y zM=^!tU|83-eG1E&k?OsQf#+J)^b@C0VN0!3IL>`e7>qgukVdNCwAM7MuU4oa?irhw z=49C#i;U3hhP%q}c&Q2AQ#tOG4C&~&Fn8=i=L=0YI`+bl)(O>kJbcty27o1JCv#7i z(wB`-V4Uw4k3u;1%1746nL{R0qeT+-+zdrhLw#8Ls8X8AV9lWE!Ql1cF{Fj3zzmW* zTw?ZI0QNay2t>{+&9uS}#D*+RKz0$Y0lr|V_nBtKPz?CCgfNFxEoyQUD-g{|2c3bM zal-aOFrT>rRIY6>Q}h9B_;<9}Y|Otl*R;J=ztSASlw^!E`^%u%+gUGmgAgF z?_w9L0mT3jkfiM6y^|I8g46ewA&A3c$Q;Sm2O#)NLlqru0_)mZyXF_ zODFE3T-Q4s<4o)mbhK5{Q+Sv9$o6b*8J84%phx&&drzq*+ybxgmE1|Z+4Qby(92R7 zi_Ja&DV%{JRZn5sF6(k3IhayRzX&}eP+HNWh>(g=-@)d}QdopYPS{DNEPXs-$%n)n zSLE92s;;HjBB^AHmNwswz?TN)Hpy-9JS`<1&9u#PiM?)UCmJ(Di(freyi6^nlEPxb zi@7W6oo{Bb`ApAuO8yGfH0Q1}@RO!5<0^_*eG7CQfurZkDhwgnvj>X>JOS_r^Xi_e z20*i$c7;(;Un7Ljtg|CWuZ7CoYiYt{8Uld}8Ks9pG+}do*wvxu*bE zE60g;C&2?VFtSp%g$P1C7+ep;v!lX3-2Zs%6+Ct|{XD(?WzWUA(k=tg z@mpt=xrbX#cnYycBf`1XR+VE);flqi8G}VLq3)V)rNrB*eLfoV2JS6EjVIdIK|XFO_^KVv!LF-Vl`3*bGNyO36to1nkmZG2Nu4IDNzDpp=sF~PZc19oLo3_Kd38UP zR2@~b(n$yK+4TGamXuLHJw9(dmoUQ%ycD3NQe6mrr=TvmJ?A-*~6XEvq397sQl<(Jt>FvLe12^?`Btv|W{gx^)SPY~8gl z$ItTB0oU=XQj@e5XmZ8LH&}qkmalreZOd14nhmr7Vpi7jp?`nLkN$P3Zh$Cwiz6pcpegr^H=7jn5j zxs;6&;mB3&oWZdHw9Z8Mslb)DSl|oamwzf}<|RP!7w0-V4uDmHDl}s8&I`)kz>G%` z?2xQJesrod^mM7Iad{P@4FD%i1nZ!uTGHdMk=ciJYrJrvNF^R#GhU8Wv>ds!DEe>ZI45D z#Zd)930T=fE+0gN2rC&_<(&vUQ?W&z&(-y5{1th&Gvo(j*gZ)O~Yk(q1Q>DWi-&e&(BH`AAx8D7Xm1GG_` zeg2wVrDNyqKzB?h+UMNJaf@#knD9hu`jNsx`s7@`UalgtyV11GnouKETa@%XNX^$&Gz% zc%QHgn_2qem91`urXx^2-pdBCsuqAiGaAPdYF{T5_fZuH16(e^cg9nb-%}MXYr|=+ zsRTG;++IL3A>1AMg+FJnD^TaRIlxZ$(bAVlsOMKx9>2Nf>kcI2v~Xa=UrDBMJ2!J@!6=%+cCQ2=LsI+p$~m zZHg{D&!`6>?@1bfbq|t?FxkVRnj_x=VfWkB%chT1F7@?6_^(GPJ>bf*Xb1f;aJMbJ z6>!xY>+U1$_aF}|*H*u5%7qZ+uR|x`dz{;k`^dFWbjIpF0`eNRt^4Y2?=wYoqLcnA zggVOuEOkce`X=Q))zzehMq%;f$YH z)IW%*y&eFrFvywV_yBhZ+~38c6+LY{E(PJG@c1#L$AvRB?CJ5yfZ5`bZa$31!a6=1 zk7|z9;De0-0PU1MRswccoo(wP3F6!%XLu6?A%b6wm4tvVrr+AEM0th7xAswABb-4O z>aPsn=r&r115^e`wyjXtyQP*El*IiCC6ChkC zXrY(^FEA|~$&O-yCb{QU|6H*Eg)L%DwuYzmk(+TsWogF2{7%*w7yn^wiuQmu8%#p4 z#R(gz)`a$b27uaW2<{vM;2~spseSC*kdV|rYt3qV`gVs2dtrhPbkdg}d4E$MZAQuy zT3Y5R-&&L%%qcU}dGFSu@;k>lv53b9Yfjt~NySl*U+S+%4S>*EMA1tbfagR29@^|0 zfd=8$2%HssOo^~*1g5=FO0U%PJC*{+D_Z+lih&$Ip~5FrsD=uDlzEt%enhWpUs@@@ zOJ~lDciD;ldk!~1md)?-%^T};Y_Z7*ucz0a2;hAqfFP9Y(elGH9sAe-m``fhV*u!k z*E->`2H?cd6e&f)28aW=~ui0l$4_OL_ z@MepV^!o4m>xa^2=rP&wEuj=Cu$(TFHn;QUY+CyCC5N1)i4zd*Vb28}+fjT&;Eue{xI0g(VDY}cao(8y5 zPiT8Q4Av1aU9v$yITSU6u9sQ6)(vdyzZPf>P1+eLkoEVx^ithO7eJ5fM@F5Ij zH1@W^pkd*VjABfb3*Zq5C5aQ-k%=cvA~?mMPq;X3AD;wVTWppAw>$^ny@5+fiLXG| zQ@|c*0a4^V*ahNf8;laT$X?_T9OaPv&^CQeYM*5Z1v2gEDUy$ZGyd_yiTGRNQD+|; zz$HPM`*?yO9RT-;gQsd=4))xY+@m?F*L{y4%b!1I7}Kt-)P#w{bXEmPGoV1usd8n} wp7#2~bA9D0G;I6uRMI)h6s*m+r07*qoM6N<$f)oynZvX%Q 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..7c56a8b6d3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,556 @@ + + + + + + + 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:2024-10-08 22:31:24Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()31
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()115
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()217
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()224
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()317
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()326
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()339
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()448
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()531
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()627
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()635
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()648
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()648
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()665
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()751
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()828
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()828
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1068
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1149
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1296
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1656
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1776
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()156931
+
+
+ + + +
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..9cb930f511 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,556 @@ + + + + + + + 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:2024-10-08 22:31:24Functions:11811999.2 %
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()432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()432
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()339
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1296
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1149
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1776
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1656
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()751
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1068
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()217
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()326
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()448
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()665
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()156931
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()216
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()115
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()648
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()627
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()828
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()317
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
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()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()224
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()531
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()31
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()108
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()108
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()432
+
+
+ + + +
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..7f5009dbdc --- /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:2024-10-08 22:31:24Functions:11811999.2 %
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        7431 :   ~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       10235 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      173401 :   ~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         254 :   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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)93382
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)130023
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)93382
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)130023
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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      130023 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21      130023 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       93382 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       93382 :   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::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<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::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<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::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<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<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&)91
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<!(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&)208
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>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&)300
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&)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&)600
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&)600
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)648
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&)2046
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&)4580
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&)14728
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.func.html b/mrs_lib/include/mrs_lib/repredictor.h.func.html new file mode 100644 index 0000000000..d6b13b83a3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-10-08 22:31:24Functions:204445.5 %
Legend: Lines: + hit + not hit +
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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&)14728
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&)4580
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)648
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&)2046
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&)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&)600
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&)91
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&)300
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&)208
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&)600
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::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<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::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<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::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<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::varstepLKF<6, 2, 2> > const&, unsigned int)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html new file mode 100644 index 0000000000..d18e49adfb --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html new file mode 100644 index 0000000000..f3eb2588c7 --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html @@ -0,0 +1,637 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-10-08 22:31:24Functions:204445.5 %
Legend: Lines: + hit + not hit +
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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       14626 :       do
+      81             :       {
+      82       14728 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       14728 :         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       14728 :         ros::Time next_stamp = to_stamp;
+      90       14728 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       14626 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       14728 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       14728 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       14728 :         hist_it++;
+      99       14728 :       } 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         600 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         600 :       assert(!m_history.empty());
+     120         600 :       const auto& info = m_history.front();
+     121         600 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         600 :       sc.stamp = to_stamp;
+     123         600 :       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        4680 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        4480 :           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         208 :     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         208 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         208 :       m_history.front().u = u;
+     172         208 :       m_history.front().Q = Q;
+     173         208 :       m_history.front().stamp = stamp;
+     174         208 :       m_history.front().predict_model = model;
+     175         208 :     }
+     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          91 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222          91 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224          91 :       m_history.front().u = u;
+     225          91 :       m_history.front().stamp = stamp;
+     226          91 :       m_history.front().predict_model = model;
+     227          91 :     }
+     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         300 :     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         300 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         300 :       auto& info = m_history.front();
+     327         300 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         300 :       const auto sc = predictTo(to_stamp);
+     329         300 :       info.z = z;
+     330         300 :       info.R = R;
+     331         300 :       info.stamp = to_stamp;
+     332         300 :       info.is_measurement = true;
+     333         300 :       info.meas_id = meas_id;
+     334         300 :       info.correct_model = model;
+     335         300 :       m_sc = correctFrom(sc, info);
+     336         300 :     }
+     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         650 :       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        4580 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        4580 :         u = info.u;
+     433        4580 :         Q = info.Q;
+     434        4580 :         predict_model = info.predict_model;
+     435        4580 :       };
+     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        2046 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2046 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       15328 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       30656 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       15328 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       30656 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5450 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5450 :       assert(meas.is_measurement);
+     544       10900 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5450 :       auto sc_tmp = sc;
+     546       10900 :       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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mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
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Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

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mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
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Date:2024-10-08 22:31:24Functions:030.0 %
Legend: Lines: + hit + not hit +
+
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+
          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
+
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:010.0 %
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mrs_lib::SafetyZone::BorderError::what() const0
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mrs_lib::SafetyZone::BorderError::what() const0
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          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
+
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Test:MRS UAV System - Test coverage reportLines:2633.3 %
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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&)5764765
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Generated by: LCOV version 1.14
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+ + + 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..a4e76ec7a8 --- /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 + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:1333.3 %
Legend: Lines: + hit + not hit +
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5764765
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
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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:2024-10-08 22:31:24Functions:1333.3 %
Legend: Lines: + hit + not hit +
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+
          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     5764765 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     5764154 :     }
+      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
+
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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:2024-10-08 22:31:24Functions:2424100.0 %
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mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler()1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler_impl()1
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler()2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::~ServiceClientHandler()4
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()220
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()324
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()648
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()650
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1182
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1182
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1300
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2256
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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..5a033d7913 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:2424100.0 %
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::Float64Srv>::ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::~ServiceClientHandler()4
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler()1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()220
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()648
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1300
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1182
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2256
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler_impl()1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()324
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()650
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1182
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+ + + 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..8fda794fa6 --- /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 + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:2424100.0 %
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        2485 :   ~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        2485 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        4862 :   ~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
+
+
+
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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> > >::setNoMessageTimeout(ros::Duration 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::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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::PointStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
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>*)0
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>*)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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> > >::setNoMessageTimeout(ros::Duration 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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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> > >::getNumPublishers() 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::MagneticField_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() 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::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() 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<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getNumPublishers() 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::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() 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::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{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::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()() 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::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{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<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*)1
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*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::passthrough::Passthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)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<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()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)::{lambda()#1}::operator()() const1
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<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<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::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()3
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*)3
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*)3
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()() const3
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>*)4
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>*)4
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>*)4
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>*)4
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()() const4
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()() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)10
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&)10
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*)10
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*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)10
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&)10
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*)10
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*)10
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()() const10
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()() const10
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
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*)31
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*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
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*)31
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*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
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()() const31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
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()() const31
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()() const31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()91
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const92
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
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*)105
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*)105
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()() const105
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*)108
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*)108
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*)108
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*)108
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&)108
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*)108
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*)108
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*)108
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*)108
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&)108
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*)108
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*)108
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*)108
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*)108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
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&)108
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*)108
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*)108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
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()() const108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
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()() const108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const109
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>*)111
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>*)111
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>*)111
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>*)111
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const111
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()() const111
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()() const111
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)112
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&)112
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()() const112
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&)115
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>*)115
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*)115
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>*)115
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*)115
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*)115
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*)115
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*)115
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*)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)115
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()() const115
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()() const115
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()() const115
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()() const115
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()() const115
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()() const115
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()116
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*)116
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*)116
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()() const116
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const118
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const132
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>*)178
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>*)178
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()() const178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()209
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)209
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const213
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()216
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()216
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()216
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()216
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)216
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()() const216
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()() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()220
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()224
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()247
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const277
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&)314
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()314
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()() const314
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&)324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)324
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()() const324
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()() const324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()334
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)334
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()349
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()355
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()381
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()415
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()425
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()425
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)425
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()() const425
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()432
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()444
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)463
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()() const463
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()() const463
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()476
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()494
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()522
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()527
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()531
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()602
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()644
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()652
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)652
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()654
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()799
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const799
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()846
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()849
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()850
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()856
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()993
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1190
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()1278
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()1281
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1481
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2133
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2713
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2808
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3678
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7224
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()14444
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const16737
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const18153
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const18384
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const18588
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19113
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const37245
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40386
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()52188
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const57713
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const72565
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()73165
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const85395
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const149626
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()182157
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const182159
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()206602
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const231177
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()249094
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const269188
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const426097
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()447728
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const468599
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()564219
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const580505
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const581860
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()805330
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const1028688
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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..d53310f364 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,3528 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
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:445186.3 %
Date:2024-10-08 22:31:24Functions:39886246.2 %
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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()432
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&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()849
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*)108
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*)108
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*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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<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>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
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*)108
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*)108
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*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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::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>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()1281
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()476
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()216
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&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()216
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&)108
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*)108
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*)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()14444
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&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
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>*)178
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>*)178
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()654
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)209
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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()414
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()414
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> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3678
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&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()415
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>*)0
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>*)111
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>*)0
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>*)111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()527
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)112
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()206602
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&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()644
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&)115
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>*)115
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>*)4
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*)115
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>*)115
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>*)4
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*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()993
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)349
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()805330
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&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1481
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&)314
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*)108
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*)115
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*)115
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*)108
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*)115
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*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2133
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)652
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration 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()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()314
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&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()247
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&)108
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*)108
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*)31
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*)108
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*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()494
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()182157
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&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()224
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&)112
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()444
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)220
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()447728
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()425
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&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()850
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)425
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()52188
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&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()846
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&)324
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()1278
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()785
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()216
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&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()115
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&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()230
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()799
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()381
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()10
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> > >&&)10
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&)10
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*)10
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*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19113
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&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()247
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()602
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()5
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()73165
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()10
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> > >&&)10
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&)10
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*)10
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*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()3
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
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&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
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*)31
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*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()564219
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
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&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()3
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
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&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()91
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()522
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*)3
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>*)4
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*)3
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>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()531
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7224
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()324
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
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*)108
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*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()249094
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&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()856
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*)1
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&)108
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*)1
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*)108
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*)116
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<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
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*)108
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*)116
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<mrs_uav_state_estimators::passthrough::Passthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1190
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)334
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40386
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()216
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&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2808
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getNumPublishers() 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::MagneticField_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9515
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const18588
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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const16737
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const426097
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const1028688
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]() const132
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getNumPublishers() 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() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const18384
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const182159
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() const468599
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const119244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const580505
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const72565
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() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const16
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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const799
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() const277
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2713
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> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const37245
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]() const111
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getNumPublishers() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const109
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const85395
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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const18153
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() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() 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> > >::getNumPublishers() 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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const149626
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]() const118
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() 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::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const92
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() const231177
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const269188
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> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const581860
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]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40386
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const57713
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()() const108
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()() const108
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()() const105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() 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::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()() const111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<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::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
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()() const108
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()() const108
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
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()() const178
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()() const0
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()() const111
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()() const115
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()() const115
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()() const4
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()() const115
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()() const314
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()() const108
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()() const115
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()() const115
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()() const108
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()() const108
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()() const31
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()() const112
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()() const108
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()() const425
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()() const324
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
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()() const216
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()() const115
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()() const108
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()() const108
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()() const10
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()() const108
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()() const324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<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::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
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()() const108
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()() const108
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()() const108
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()() const463
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()() const10
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()() const31
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()() const108
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()() const31
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()() const108
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()() const463
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
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()() const3
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()() const4
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()() const108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
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()() const108
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()() const1
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()() const108
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()() const116
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<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)::{lambda()#1}::operator()() const1
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()() const216
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+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..974f121ee9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,565 @@ + + + + + + + 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:445186.3 %
Date:2024-10-08 22:31:24Functions:39886246.2 %
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 <optional>
+      11             : 
+      12             : #include <ros/ros.h>
+      13             : #include <mrs_lib/timeout_manager.h>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             :   static const ros::Duration no_timeout = ros::Duration(0);
+      19             : 
+      20             :   /* struct SubscribeHandlerOptions //{ */
+      21             :   
+      22             :   /**
+      23             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      24             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      25             :   *
+      26             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      27             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      28             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      29             :   *
+      30             :   */
+      31             :   struct SubscribeHandlerOptions
+      32             :   {
+      33             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      34        2808 :     SubscribeHandlerOptions() = default;
+      35             :   
+      36             :     ros::NodeHandle nh;  /*!< \brief The ROS NodeHandle to be used for subscription. */
+      37             :   
+      38             :     std::string node_name = {};  /*!< \brief Name of the ROS node, using this handle (used for messages printed to console). */
+      39             :   
+      40             :     std::string topic_name = {};  /*!< \brief Name of the ROS topic to be handled. */
+      41             : 
+      42             :     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. */
+      43             :   
+      44             :     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. */
+      45             :   
+      46             :     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. */
+      47             :   
+      48             :     bool threadsafe = true;  /*!< \brief If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data races. */
+      49             :   
+      50             :     bool autostart = true;  /*!< \brief If true, the SubscribeHandler will be started after construction. Otherwise it has to be started using the start() method */
+      51             :   
+      52             :     uint32_t queue_size = 3;  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      53             :   
+      54             :     ros::TransportHints transport_hints = ros::TransportHints();  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      55             :   };
+      56             :   
+      57             :   //}
+      58             : 
+      59             :   /* SubscribeHandler class //{ */
+      60             :   /**
+      61             :   * \brief The main class for ROS topic subscription, message timeout handling etc.
+      62             :   *
+      63             :   * This class handles the raw ROS Subscriber for a specified topic. The last message received on the topic is remembered
+      64             :   * and may be retrieved by calling the getMsg() method. To check whether at least one message was received, use hasMsg()
+      65             :   * (if no message was received and you call getMsg(), a nullptr is returned and an error message is printed). To check
+      66             :   * whether a new message has arrived since the last call to getMsg(), use newMsg() (useful to check whether a new message
+      67             :   * needs to be processed in a loop or ROS Timer callback).
+      68             :   *
+      69             :   * A timeout callback function may be specified, which is called if no message is received on the topic for a specified
+      70             :   * timeout (use the \p timeout_callback and \p no_message_timeout parameters). If the timeout callback is not set by the
+      71             :   * user, an error message is printed to the console after the timeout by default.
+      72             :   *
+      73             :   * A message callback function may be specified, which is called whenever a new message is received (use the
+      74             :   * \p message_callback parameter).
+      75             :   *
+      76             :   * The callbacks and timeouts may be stopped and started using the stop() and start() methods.
+      77             :   *
+      78             :   * For more details, see the example below (I recommend starting with the simple_example which covers most use-cases).
+      79             :   *
+      80             :   */
+      81             :   template <typename MessageType>
+      82             :   class SubscribeHandler
+      83             :   {
+      84             :     public:
+      85             :     /*!
+      86             :       * \brief Convenience type for the template parameter to enable nice aliasing.
+      87             :       */
+      88             :       using message_type = MessageType;
+      89             : 
+      90             :     /*!
+      91             :       * \brief Type for the timeout callback function.
+      92             :       */
+      93             :       using timeout_callback_t = std::function<void(const std::string& topic_name, const ros::Time& last_msg)>;
+      94             : 
+      95             :     /*!
+      96             :       * \brief Convenience type for the message callback function.
+      97             :       */
+      98             :       using message_callback_t = std::function<void(typename MessageType::ConstPtr)>;
+      99             : 
+     100             :     public:
+     101             :     /*!
+     102             :       * \brief Returns the last received message on the topic, handled by this SubscribeHandler.
+     103             :       * Use hasMsg() first to check if at least one message is available or newMsg() to check if a new message
+     104             :       * since the last call to getMsg() is available.
+     105             :       *
+     106             :       * \return the last received message.
+     107             :       */
+     108     2677246 :       virtual typename MessageType::ConstPtr getMsg() {assert(m_pimpl); return m_pimpl->getMsg();};
+     109             : 
+     110             :     /*!
+     111             :       * \brief Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.
+     112             :       *
+     113             :       * \return the last received message.
+     114             :       */
+     115           0 :       virtual typename MessageType::ConstPtr peekMsg() const {assert(m_pimpl); return m_pimpl->peekMsg();};
+     116             : 
+     117             :     /*!
+     118             :       * \brief Used to check whether at least one message has been received on the handled topic.
+     119             :       *
+     120             :       * \return true if at least one message was received, otherwise false.
+     121             :       */
+     122     3094892 :       virtual bool hasMsg() const {assert(m_pimpl); return m_pimpl->hasMsg();};
+     123             : 
+     124             :     /*!
+     125             :       * \brief Used to check whether at least one message has been received on the handled topic since the last call to getMsg().
+     126             :       *
+     127             :       * \return true if at least one message was received, otherwise false.
+     128             :       */
+     129      580505 :       virtual bool newMsg() const {assert(m_pimpl); return m_pimpl->newMsg();};
+     130             : 
+     131             :     /*!
+     132             :       * \brief Used to check whether getMsg() was called at least once on this SubscribeHandler.
+     133             :       *
+     134             :       * \return true if getMsg() was called at least once, otherwise false.
+     135             :       */
+     136           0 :       virtual bool usedMsg() const {assert(m_pimpl); return m_pimpl->usedMsg();};
+     137             : 
+     138             :     /*!
+     139             :       * \brief Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.
+     140             :       *
+     141             :       * \param timeout    after this duration, this method will return a nullptr if no new data becomes available.
+     142             :       * \return           the message if a new message is available after waking up, \p nullptr otherwise.
+     143             :       */
+     144           0 :       virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout) {assert(m_pimpl); return m_pimpl->waitForNew(timeout);};
+     145             : 
+     146             :     /*!
+     147             :       * \brief Returns time of the last received message on the topic, handled by this SubscribeHandler.
+     148             :       *
+     149             :       * \return time when the last message was received.
+     150             :       */
+     151      740872 :       virtual ros::Time lastMsgTime() const {assert(m_pimpl); return m_pimpl->lastMsgTime();};
+     152             : 
+     153             :     /*!
+     154             :       * \brief Returns the resolved (full) name of the topic, handled by this SubscribeHandler.
+     155             :       *
+     156             :       * \return name of the handled topic.
+     157             :       */
+     158         361 :       virtual std::string topicName() const {assert(m_pimpl); return m_pimpl->topicName();};
+     159             : 
+     160             :     /*!
+     161             :       * \brief Returns the subscribed (unresolved) name of the topic, handled by this SubscribeHandler.
+     162             :       *
+     163             :       * \return name of the handled topic.
+     164             :       */
+     165           0 :       virtual std::string subscribedTopicName() const {assert(m_pimpl); return m_pimpl->m_topic_name;};
+     166             : 
+     167             :     /*!
+     168             :       * \brief Returns number of publishers registered at the topic.
+     169             :       *
+     170             :       * \return number of publishers.
+     171             :       */
+     172           0 :       virtual uint32_t getNumPublishers() const {assert(m_pimpl); return m_pimpl->getNumPublishers();};
+     173             : 
+     174             :     /*!
+     175             :       * \brief Sets the timeout for no received message.
+     176             :       *
+     177             :       * \param timeout    The new timeout for no received messages.
+     178             :       */
+     179           0 :       virtual void setNoMessageTimeout(const ros::Duration& timeout) {assert(m_pimpl); return m_pimpl->setNoMessageTimeout(timeout);};
+     180             : 
+     181             :     /*!
+     182             :       * \brief Enables the callbacks for the handled topic.
+     183             :       *
+     184             :       * If the SubscribeHandler object is stopped using the stop() method, no callbacks will be called
+     185             :       * until the start() method is called.
+     186             :       */
+     187        7094 :       virtual void start() {assert(m_pimpl); return m_pimpl->start();};
+     188             : 
+     189             :     /*!
+     190             :       * \brief Disables the callbacks for the handled topic.
+     191             :       *
+     192             :       * All messages after this method is called will be ignored until start() is called again.
+     193             :       * Timeout checking will also be disabled.
+     194             :       */
+     195           5 :       virtual void stop() {assert(m_pimpl); return m_pimpl->stop();};
+     196             : 
+     197             :     public:
+     198             :     /*!
+     199             :       * \brief Default constructor to avoid having to use pointers.
+     200             :       *
+     201             :       * It does nothing and the SubscribeHandler it constructs will also do nothing.
+     202             :       * Use some of the other constructors for actual construction of a usable SubscribeHandler.
+     203             :       */
+     204       12151 :       SubscribeHandler() {};
+     205             : 
+     206             :     /*!
+     207             :       * \brief Main constructor.
+     208             :       *
+     209             :       * \param options    The common options struct (see documentation of SubscribeHandlerOptions).
+     210             :       * \param topic_name Name of the topic to be handled by this subscribed.
+     211             :       * \param args       Remaining arguments to be parsed (see other constructors).
+     212             :       *
+     213             :       */
+     214             :       template<class ... Types>
+     215        7090 :       SubscribeHandler(
+     216             :             const SubscribeHandlerOptions& options,
+     217             :             const std::string& topic_name,
+     218             :             Types ... args
+     219             :           )
+     220             :       :
+     221             :         SubscribeHandler(
+     222        7090 :             [options, topic_name]()
+     223             :             {
+     224       14180 :               SubscribeHandlerOptions opts = options;
+     225        7090 :               opts.topic_name = topic_name;
+     226       14180 :               return opts;
+     227             :             }(),
+     228             :             args...
+     229        7090 :             )
+     230             :       {
+     231        7090 :       }
+     232             : 
+     233             :     /*!
+     234             :       * \brief Convenience constructor overload.
+     235             :       *
+     236             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     237             :       * \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).
+     238             :       *
+     239             :       */
+     240        7090 :       SubscribeHandler(
+     241             :             const SubscribeHandlerOptions& options,
+     242             :             const message_callback_t& message_callback = {}
+     243             :           )
+     244        7090 :       {
+     245        7090 :         if (options.threadsafe)
+     246             :         {
+     247        7090 :           m_pimpl = std::make_unique<ImplThreadsafe>
+     248             :             (
+     249             :               options,
+     250             :               message_callback
+     251             :             );
+     252             :         }
+     253             :         else
+     254             :         {
+     255           0 :           m_pimpl = std::make_unique<Impl>
+     256             :             (
+     257             :               options,
+     258             :               message_callback
+     259             :             );
+     260             :         }
+     261        7090 :         if (options.autostart)
+     262        7089 :           start();
+     263        7090 :       };
+     264             : 
+     265             :     /*!
+     266             :       * \brief Convenience constructor overload.
+     267             :       *
+     268             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     269             :       * \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.
+     270             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     271             :       *
+     272             :       */
+     273             :       template <class ... Types>
+     274           1 :       SubscribeHandler(
+     275             :             const SubscribeHandlerOptions& options,
+     276             :             const timeout_callback_t& timeout_callback,
+     277             :             Types ... args
+     278             :           )
+     279             :       :
+     280             :         SubscribeHandler(
+     281           1 :             [options, timeout_callback]()
+     282             :             {
+     283           2 :               SubscribeHandlerOptions opts = options;
+     284           1 :               opts.timeout_callback = timeout_callback;
+     285           2 :               return opts;
+     286             :             }(),
+     287             :             args...
+     288           1 :             )
+     289             :       {
+     290           1 :       }
+     291             : 
+     292             :     /*!
+     293             :       * \brief Convenience constructor overload.
+     294             :       *
+     295             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     296             :       * \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.
+     297             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     298             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     299             :       *
+     300             :       */
+     301             :       template <class ObjectType1, class ... Types>
+     302             :       SubscribeHandler(
+     303             :             const SubscribeHandlerOptions& options,
+     304             :             void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     305             :             ObjectType1* const obj1,
+     306             :             Types ... args
+     307             :           )
+     308             :       :
+     309             :         SubscribeHandler(
+     310             :             [options, timeout_callback, obj1]()
+     311             :             {
+     312             :               SubscribeHandlerOptions opts = options;
+     313             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     314             :               return opts;
+     315             :             }(),
+     316             :             args...
+     317             :             )
+     318             :       {
+     319             :       }
+     320             : 
+     321             :     /*!
+     322             :       * \brief Convenience constructor overload.
+     323             :       *
+     324             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     325             :       * \param message_callback The callback method to call when a new message is received.
+     326             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     327             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     328             :       *
+     329             :       */
+     330             :       template <class ObjectType2, class ... Types>
+     331        3045 :       SubscribeHandler(
+     332             :             const SubscribeHandlerOptions& options,
+     333             :             void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     334             :             ObjectType2* const obj2,
+     335             :             Types ... args
+     336             :           )
+     337             :       :
+     338             :         SubscribeHandler(
+     339             :             options,
+     340        6090 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     341             :             args...
+     342        3045 :             )
+     343             :       {
+     344        3045 :       }
+     345             : 
+     346             :     /*!
+     347             :       * \brief Convenience constructor overload.
+     348             :       *
+     349             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     350             :       * \param message_callback The callback method to call when a new message is received.
+     351             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     352             :       * \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.
+     353             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     354             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     355             :       *
+     356             :       */
+     357             :      template <class ObjectType1, class ObjectType2, class ... Types>
+     358             :      SubscribeHandler(
+     359             :            const SubscribeHandlerOptions& options,
+     360             :            void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     361             :            ObjectType2* const obj2,
+     362             :            void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     363             :            ObjectType1* const obj1,
+     364             :            Types ... args
+     365             :          )
+     366             :      :
+     367             :        SubscribeHandler(
+     368             :             [options, timeout_callback, obj1]()
+     369             :             {
+     370             :               SubscribeHandlerOptions opts = options;
+     371             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     372             :               return opts;
+     373             :             }(),
+     374             :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     375             :             args...
+     376             :             )
+     377             :      {
+     378             :      }
+     379             : 
+     380             :     /*!
+     381             :       * \brief Convenience constructor overload.
+     382             :       *
+     383             :       * \param options            The common options struct (see documentation of SubscribeHandlerOptions).
+     384             :       * \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.
+     385             :       * \param args               Remaining arguments to be parsed (see other constructors).
+     386             :       *
+     387             :       */
+     388             :       template<class ... Types>
+     389             :       SubscribeHandler(
+     390             :             const SubscribeHandlerOptions& options,
+     391             :             const ros::Duration& no_message_timeout,
+     392             :             Types ... args
+     393             :           )
+     394             :       :
+     395             :         SubscribeHandler(
+     396             :             [options, no_message_timeout]()
+     397             :             {
+     398             :               SubscribeHandlerOptions opts = options;
+     399             :               opts.no_message_timeout = no_message_timeout;
+     400             :               return opts;
+     401             :             }(),
+     402             :             args...
+     403             :             )
+     404             :       {
+     405             :       }
+     406             : 
+     407             :     /*!
+     408             :       * \brief Convenience constructor overload.
+     409             :       *
+     410             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     411             :       * \param timeout_manager  The manager for timeout callbacks.
+     412             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     413             :       *
+     414             :       */
+     415             :       template <class ... Types>
+     416             :       SubscribeHandler(
+     417             :             const SubscribeHandlerOptions& options,
+     418             :             mrs_lib::TimeoutManager& timeout_manager,
+     419             :             Types ... args
+     420             :           )
+     421             :       :
+     422             :         SubscribeHandler(
+     423             :             options,
+     424             :             timeout_manager = timeout_manager,
+     425             :             args...
+     426             :             )
+     427             :       {
+     428             :       }
+     429             : 
+     430       19261 :       ~SubscribeHandler() = default;
+     431             :       // delete copy constructor and assignment operator (forbid copying shandlers)
+     432             :       SubscribeHandler(const SubscribeHandler&) = delete;
+     433             :       SubscribeHandler& operator=(const SubscribeHandler&) = delete;
+     434             :       // define only move constructor and assignemnt operator
+     435          20 :       SubscribeHandler(SubscribeHandler&& other)
+     436          20 :       {
+     437          20 :         this->m_pimpl = std::move(other.m_pimpl);
+     438          20 :         other.m_pimpl = nullptr;
+     439          20 :       }
+     440        6962 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     441             :       {
+     442        6962 :         this->m_pimpl = std::move(other.m_pimpl);
+     443        6962 :         other.m_pimpl = nullptr;
+     444        6962 :         return *this;
+     445             :       }
+     446             : 
+     447             :     private:
+     448             :       class Impl;
+     449             :       class ImplThreadsafe;
+     450             :       std::unique_ptr<Impl> m_pimpl;
+     451             :   };
+     452             :   //}
+     453             : 
+     454             : /*!
+     455             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     456             :   */
+     457             :   template<typename SubscribeHandler>
+     458             :   using message_type = typename SubscribeHandler::message_type;
+     459             : 
+     460             : /*!
+     461             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     462             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     463             :   * 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
+     464             :   * argument and not as a return type.
+     465             :   *
+     466             :   * \param object The object to be constructed.
+     467             :   * \param args   These arguments are passed to the object constructor.
+     468             :   */
+     469             :   template<typename Class, class ... Types>
+     470             :   void construct_object(
+     471             :         Class& object,
+     472             :         Types ... args
+     473             :       )
+     474             :   {
+     475             :     object = Class(args...);
+     476             :   }
+     477             : }
+     478             : 
+     479             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     480             : 
+     481             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
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Date:2024-10-08 22:31:24Functions:00-
Legend: Lines: + hit + not hit +
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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             :   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          92 :       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      169403 :       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          96 :       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           0 :       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             :         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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Date:2024-10-08 22:31:24Functions:6785.7 %
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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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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
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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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
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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             :   /**
+      13             :    * @brief Common wrapper representing the functionality of the ros::Timer.
+      14             :    *
+      15             :    * The implementation can then use either ros::Timer (the ROSTimer class)
+      16             :    * or threads and synchronization primitives from the C++ standard library
+      17             :    * (the ThreadTimer class). Both these variants implement the same interface.
+      18             :    *
+      19             :    * @note Functionality of the two implementations differs in some details.
+      20             :    */
+      21             :   class MRSTimer
+      22             :   {
+      23             :     public:
+      24             :     using callback_t = std::function<void(const ros::TimerEvent&)>;
+      25             : 
+      26             :     /**
+      27             :      * @brief stop the timer
+      28             :      */
+      29             :     virtual void stop() = 0;
+      30             : 
+      31             :     /**
+      32             :      * @brief start the timer
+      33             :      */
+      34             :     virtual void start() = 0;
+      35             : 
+      36             :     /**
+      37             :      * @brief set the timer period/duration
+      38             :      *
+      39             :      * @param duration
+      40             :      * @param reset
+      41             :      */
+      42             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) = 0;
+      43             : 
+      44             :     /**
+      45             :      * @brief change the callback method 
+      46             :      *
+      47             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+      48             :      *
+      49             :      * @param callback          callback method to be called.
+      50             :      */
+      51             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) = 0;
+      52             : 
+      53             :     /**
+      54             :      * @brief returns true if callbacks should be called
+      55             :      *
+      56             :      * @return true if timer is running
+      57             :      */
+      58             :     virtual bool running() = 0;
+      59             : 
+      60          16 :     virtual ~MRSTimer() = default;
+      61             :     MRSTimer(const MRSTimer&) = default;
+      62             :     MRSTimer(MRSTimer&&) = default;
+      63             :     MRSTimer& operator=(const MRSTimer&) = default;
+      64             :     MRSTimer& operator=(MRSTimer&&) = default;
+      65             : 
+      66             :     protected:
+      67          16 :     MRSTimer() = default;
+      68             :   };
+      69             : 
+      70             :   // | ------------------------ ROSTimer ------------------------ |
+      71             : 
+      72             :   /* class ROSTimer //{ */
+      73             : 
+      74             :   /**
+      75             :    * @brief ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.
+      76             :    */
+      77             :   class ROSTimer : public MRSTimer {
+      78             :   public:
+      79             :     ROSTimer();
+      80             : 
+      81             :     /**
+      82             :      * @brief Constructs the object.
+      83             :      *
+      84             :      * @tparam ObjectType
+      85             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+      86             :      * @param rate                          rate at which the callback should be called.
+      87             :      * @param ObjectType::*const callback   callback method to be called.
+      88             :      * @param obj                           object for the method.
+      89             :      * @param oneshot                       whether the callback should only be called once after starting.
+      90             :      * @param autostart                     whether the timer should immediately start after construction.
+      91             :      */
+      92             :     template <class ObjectType>
+      93             :     ROSTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+      94             :              const bool oneshot = false, const bool autostart = true);
+      95             : 
+      96             :     /**
+      97             :      * @brief full constructor
+      98             :      *
+      99             :      * @tparam ObjectType
+     100             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+     101             :      * @param duration                      desired callback period.
+     102             :      * @param ObjectType::*const callback   callback method to be called.
+     103             :      * @param obj                           object for the method.
+     104             :      * @param oneshot                       whether the callback should only be called once after starting.
+     105             :      * @param autostart                     whether the timer should immediately start after construction.
+     106             :      */
+     107             :     template <class ObjectType>
+     108             :     ROSTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     109             :              const bool oneshot = false, const bool autostart = true);
+     110             : 
+     111             :     /**
+     112             :      * @brief stop the timer
+     113             :      */
+     114             :     virtual void stop() override;
+     115             : 
+     116             :     /**
+     117             :      * @brief start the timer
+     118             :      */
+     119             :     virtual void start() override;
+     120             : 
+     121             :     /**
+     122             :      * @brief set the timer period/duration
+     123             :      *
+     124             :      * @param duration
+     125             :      * @param reset
+     126             :      */
+     127             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     128             : 
+     129             :     /**
+     130             :      * @brief change the callback method
+     131             :      *
+     132             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     133             :      *
+     134             :      * @param callback          callback method to be called.
+     135             :      */
+     136             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;
+     137             : 
+     138             :     /**
+     139             :      * @brief returns true if callbacks should be called
+     140             :      *
+     141             :      * @return true if timer is running
+     142             :      */
+     143             :     virtual bool running() override;
+     144             : 
+     145          16 :     virtual ~ROSTimer() override {stop();};
+     146             :     // to keep rule of five since we have a custom destructor
+     147             :     ROSTimer(const ROSTimer&) = delete;
+     148             :     ROSTimer(ROSTimer&&) = delete;
+     149             :     ROSTimer& operator=(const ROSTimer&) = delete;
+     150             :     ROSTimer& operator=(ROSTimer&&) = delete;
+     151             : 
+     152             :   private:
+     153             :     std::mutex mutex_timer_;
+     154             : 
+     155             :     std::unique_ptr<ros::Timer> timer_;
+     156             :   };
+     157             : 
+     158             :   //}
+     159             : 
+     160             :   // | ----------------------- ThreadTimer ---------------------- |
+     161             : 
+     162             :   /* class ThreadTimer //{ */
+     163             : 
+     164             :   /**
+     165             :    * @brief Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.
+     166             :    */
+     167             :   class ThreadTimer : public MRSTimer {
+     168             : 
+     169             :   public:
+     170             :     ThreadTimer();
+     171             : 
+     172             :     /**
+     173             :      * @brief Constructs the object.
+     174             :      *
+     175             :      * @tparam ObjectType
+     176             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     177             :      * @param rate                          rate at which the callback should be called.
+     178             :      * @param ObjectType::*const callback   callback method to be called.
+     179             :      * @param obj                           object for the method.
+     180             :      * @param oneshot                       whether the callback should only be called once after starting.
+     181             :      * @param autostart                     whether the timer should immediately start after construction.
+     182             :      */
+     183             :     template <class ObjectType>
+     184             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     185             :                 const bool oneshot = false, const bool autostart = true);
+     186             : 
+     187             :     /**
+     188             :      * @brief Constructs the object.
+     189             :      *
+     190             :      * @tparam ObjectType
+     191             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     192             :      * @param duration                      desired callback period.
+     193             :      * @param ObjectType::*const callback   callback method to be called.
+     194             :      * @param obj                           object for the method.
+     195             :      * @param oneshot                       whether the callback should only be called once after starting.
+     196             :      * @param autostart                     whether the timer should immediately start after construction.
+     197             :      */
+     198             :     template <class ObjectType>
+     199             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     200             :                 bool oneshot = false, const bool autostart = true);
+     201             : 
+     202             :     /**
+     203             :      * @brief stop the timer
+     204             :      *
+     205             :      * No more callbacks will be called after this method returns.
+     206             :      */
+     207             :     virtual void stop() override;
+     208             : 
+     209             :     /**
+     210             :      * @brief start the timer
+     211             :      *
+     212             :      * The first callback will be called in now + period.
+     213             :      *
+     214             :      * @note If the timer is already started, nothing will change.
+     215             :      */
+     216             :     virtual void start() override;
+     217             : 
+     218             :     /**
+     219             :      * @brief set the timer period/duration
+     220             :      *
+     221             :      * The new period will be applied after the next callback.
+     222             :      *
+     223             :      * @param duration the new desired callback period.
+     224             :      * @param reset    ignored in this implementation.
+     225             :      */
+     226             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     227             :     
+     228             :     /**
+     229             :      * @brief change the callback method
+     230             :      *
+     231             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     232             :      *
+     233             :      * @param callback          callback method to be called.
+     234             :      */
+     235             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;
+     236             : 
+     237             :     /**
+     238             :      * @brief returns true if callbacks should be called
+     239             :      *
+     240             :      * @return true if timer is running
+     241             :      */
+     242             :     virtual bool running() override;
+     243             : 
+     244             :     /**
+     245             :      * @brief stops the timer and then destroys the object
+     246             :      *
+     247             :      * No more callbacks will be called when the destructor is started.
+     248             :      */
+     249          16 :     virtual ~ThreadTimer() override {stop();};
+     250             :     // to keep rule of five since we have a custom destructor
+     251             :     ThreadTimer(const ThreadTimer&) = delete;
+     252             :     ThreadTimer(ThreadTimer&&) = delete;
+     253             :     ThreadTimer& operator=(const ThreadTimer&) = delete;
+     254             :     ThreadTimer& operator=(ThreadTimer&&) = delete;
+     255             : 
+     256             :   private:
+     257             :     class Impl;
+     258             : 
+     259             :     std::unique_ptr<Impl> impl_;
+     260             : 
+     261             :   };  // namespace mrs_lib
+     262             : 
+     263             :   //}
+     264             : 
+     265             : #include <mrs_lib/impl/timer.hpp>
+     266             : 
+     267             : }  // namespace mrs_lib
+     268             : 
+     269             : #endif  // MRS_TIMER_H
+
+
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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:2024-10-08 22:31:24Functions:141877.8 %
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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::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)336
mrs_lib::Transformer::retryLookupNewest(bool)541
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1690
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)496278
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2167927
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&)2167965
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2170929
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2180586
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2180687
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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:2024-10-08 22:31:24Functions:141877.8 %
Legend: Lines: + hit + not hit +
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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&)2180586
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2167927
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1690
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)496278
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&)2167965
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)336
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)541
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&)2180687
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2170929
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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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:2024-10-08 22:31:24Functions: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      496278 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      992219 :       std::scoped_lock lck(mutex_);
+     133      496185 :       default_frame_id_ = frame_id;
+     134      496146 :     }
+     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         336 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         672 :       std::scoped_lock lck(mutex_);
+     156         336 :       if (prefix.empty())
+     157           1 :         prefix_ = "";
+     158             :       else
+     159         335 :         prefix_ = prefix + "/";
+     160         336 :     }
+     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         541 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         541 :       std::scoped_lock lck(mutex_);
+     214         541 :       retry_lookup_newest_ = retry;
+     215         541 :     }
+     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        1690 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        3380 :       std::scoped_lock lck(mutex_);
+     251        3380 :       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     2180586 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     2180586 :       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     2167927 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     2167927 :       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     2180687 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     2180687 :       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     2170929 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     2170929 :       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     2167965 :     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     2167965 :       geometry_msgs::TransformStamped ret;
+     621     2167867 :       frame_from(ret) = from_frame;
+     622     2167964 :       frame_to(ret) = to_frame;
+     623     2167941 :       ret.header.stamp = time_stamp;
+     624     2167941 :       ret.transform = tf;
+     625     2167941 :       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
+
+       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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Current view:top level - mrs_lib/include/mrs_lib - utils.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2024-10-08 22:31:24Functions: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)49180
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
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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)49180
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2024-10-08 22:31:24Functions:55100.0 %
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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       49180 :   int signum(T val)
+     139             :   {
+     140       49180 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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Date:2024-10-08 22:31:24Functions:3636100.0 %
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions:3636100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file vector_converter.h
+       3             :      \brief Defines the convert() function for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef VECTOR_CONVERTER_H
+       7             : #define VECTOR_CONVERTER_H
+       8             : 
+       9             : #include <tuple>
+      10             : 
+      11             : #include <mrs_lib/impl/vector_converter.hpp>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /*!
+      17             :    * \brief Converts between different vector representations.
+      18             :    *
+      19             :    * Usage (for full example, see the file vector_converter/example.cpp):
+      20             :    *
+      21             :    * `auto out = mrs_lib::convert<to_type>(in);`
+      22             :    *
+      23             :    * Supported types by default are: `Eigen::Vector3d`, `cv::Vec3d`, `geometry_msgs::Vector3`.
+      24             :    * If you want to use this with a new type, it should work automagically if it provides a reasonable API.
+      25             :    * If it doesn't work by default, you just need to implement the respective convertTo() and convertFrom() functions for that type (see the file impl/vector_converter.hpp and the example file vector_converter/example.cpp).
+      26             :    *
+      27             :    * \param in  The input vector to be converted to the \p ret_t type.
+      28             :    *
+      29             :    * \tparam ret_t Type of the return vector. You need to specify this when calling the function.
+      30             :    * \tparam in_t  Type of the input vector. This parameter is deduced by the compiler and doesn't need to be specified in usual cases.
+      31             :    *
+      32             :    */
+      33             :   template <typename ret_t, typename in_t>
+      34          36 :   ret_t convert(const in_t& in)
+      35             :   {
+      36          36 :     const auto [x, y, z] = impl::convertFrom(in);
+      37          36 :     ret_t ret;
+      38          36 :     impl::convertTo(ret, x, y, z);
+      39          66 :     return ret;
+      40             :   }
+      41             : 
+      42             : }
+      43             : 
+      44             : #endif // VECTOR_CONVERTER_H
+
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const272
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const272
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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/Path.h>
+      15             : #include <mrs_msgs/TrajectoryReference.h>
+      16             : 
+      17             : #define DEFAULT_ELLIPSE_POINTS 64
+      18             : 
+      19             : namespace mrs_lib
+      20             : {
+      21             : 
+      22             : enum MarkerType
+      23             : {
+      24             :   POINT    = 0,
+      25             :   LINE     = 1,
+      26             :   TRIANGLE = 2
+      27             : };
+      28             : 
+      29             : class VisualObject {
+      30             : 
+      31             : 
+      32             : public:
+      33             :   VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      34             :                const unsigned long& id);
+      35             : 
+      36             :   VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      37             :                const unsigned long& id);
+      38             : 
+      39             :   VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      40             :                const bool filled, const unsigned long& id);
+      41             : 
+      42             :   VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      43             :                const bool filled, const unsigned long& id);
+      44             : 
+      45             :   VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      46             :                const bool filled, const unsigned long& id);
+      47             : 
+      48             :   VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      49             :                const bool filled, const unsigned long& id, const int num_points = DEFAULT_ELLIPSE_POINTS);
+      50             : 
+      51             :   VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      52             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      53             : 
+      54             :   VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      55             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      56             : 
+      57             :   VisualObject(const mrs_msgs::Path& p, const double r, const double g, const double b, const double a, const ros::Duration& timeout, const bool filled,
+      58             :                const unsigned long& id);
+      59             : 
+      60             :   VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      61             :                const bool filled, const unsigned long& id);
+      62             : 
+      63             : 
+      64             : public:
+      65             :   unsigned long getID() const;
+      66             :   int           getType() const;
+      67             :   bool          isTimedOut() const;
+      68             : 
+      69             :   const std::vector<geometry_msgs::Point> getPoints() const;
+      70             :   const std::vector<std_msgs::ColorRGBA>  getColors() const;
+      71             : 
+      72         272 :   bool operator<(const VisualObject& other) const {
+      73         272 :     return id_ < other.id_;
+      74             :   }
+      75             : 
+      76             :   bool operator>(const VisualObject& other) const {
+      77             :     return id_ > other.id_;
+      78             :   }
+      79             : 
+      80             :   bool operator==(const VisualObject& other) const {
+      81             :     return id_ == other.id_;
+      82             :   }
+      83             : 
+      84             : private:
+      85             :   const unsigned long               id_;
+      86             :   MarkerType                        type_;
+      87             :   std::vector<geometry_msgs::Point> points_;
+      88             :   std::vector<std_msgs::ColorRGBA>  colors_;
+      89             :   ros::Time                         timeout_time_;
+      90             : 
+      91             :   void addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a);
+      92             : 
+      93             :   void addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled);
+      94             : 
+      95             :   void addEllipse(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const bool filled,
+      96             :                   const int num_points);
+      97             : 
+      98             : };  // namespace batch_visualizer
+      99             : 
+     100             : }  // namespace mrs_lib
+     101             : 
+     102             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html new file mode 100644 index 0000000000..d12f1bdebc --- /dev/null +++ b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html @@ -0,0 +1,46 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/visual_object.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 + + +
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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:2024-10-08 22:31:24Functions:394195.1 %
Legend: Lines: + hit + not hit +
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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&)23043
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114888
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()151400
mrs_lib::AttitudeConverter::getYaw()204688
mrs_lib::AttitudeConverter::calculateRPY()204693
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)316282
mrs_lib::AttitudeConverter::setHeading(double const&)328267
mrs_lib::AttitudeConverter::getVectorZ()330269
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)339326
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const419605
mrs_lib::AttitudeConverter::operator tf2::Transform() const435656
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)503442
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const669586
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const981208
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1035220
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1571874
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1673450
mrs_lib::AttitudeConverter::getHeading()1770114
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)3920618
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)7889946
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9419757
mrs_lib::AttitudeConverter::validateOrientation()14918608
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Generated by: LCOV version 1.14
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+ + + 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..921ccbd484 --- /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
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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:2024-10-08 22:31:24Functions: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&)316282
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)23043
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()1770114
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()330269
mrs_lib::AttitudeConverter::setHeading(double const&)328267
mrs_lib::AttitudeConverter::calculateRPY()204693
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)339326
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114888
mrs_lib::AttitudeConverter::validateOrientation()14918608
mrs_lib::AttitudeConverter::getYaw()204688
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> >)3920618
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1035220
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)503442
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1571874
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&)7889946
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()151400
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>() const669586
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9419757
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const981208
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const419605
mrs_lib::AttitudeConverter::operator tf2::Transform() const435656
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1673450
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
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LCOV - code coverage report
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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:2024-10-08 22:31:24Functions: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       23043 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       23043 :   vector3_[0] = vector3[0];
+      35       23043 :   vector3_[1] = vector3[1];
+      36       23043 :   vector3_[2] = vector3[2];
+      37       23043 : }
+      38             : 
+      39      316282 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      316235 :   vector3_[0] = vector3.x;
+      42      316257 :   vector3_[1] = vector3.y;
+      43      316209 :   vector3_[2] = vector3.z;
+      44      316229 : }
+      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      669586 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      669586 :   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     7889946 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     7888648 :   switch (format) {
+      81             : 
+      82     7889007 :     case RPY_EXTRINSIC: {
+      83     7889007 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     7889125 :       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     7888766 :   validateOrientation();
+     104     7889193 : }
+     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     3920618 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     3920437 :   tf2_quaternion_.setX(quaternion.x);
+     118     3919875 :   tf2_quaternion_.setY(quaternion.y);
+     119     3920427 :   tf2_quaternion_.setZ(quaternion.z);
+     120     3920661 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     3920776 :   validateOrientation();
+     123     3919862 : }
+     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      503442 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      503442 :   tf2_quaternion_.setX(quaternion.x());
+     133      503442 :   tf2_quaternion_.setY(quaternion.y());
+     134      503441 :   tf2_quaternion_.setZ(quaternion.z());
+     135      503442 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      503442 :   validateOrientation();
+     138      503441 : }
+     139             : 
+     140     1571874 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141     1569846 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143     1570453 :   tf2_quaternion_.setX(quaternion.x());
+     144     1568838 :   tf2_quaternion_.setY(quaternion.y());
+     145     1570110 :   tf2_quaternion_.setZ(quaternion.z());
+     146     1569992 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148     1570101 :   validateOrientation();
+     149     1566694 : }
+     150             : 
+     151     1035220 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153     1032844 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155     1032844 :   validateOrientation();
+     156     1032592 : }
+     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      981208 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      981208 :   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     9419757 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     9419757 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     9417022 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     9410926 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     9412453 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     9413421 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     9412303 :   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     1673450 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207     1673450 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     3346601 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212      151400 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214      151400 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216      151400 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      419605 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      419605 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      435656 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      435656 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      204688 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      204688 :   calculateRPY();
+     236             : 
+     237      204688 :   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     1770114 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256     1770114 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258     1769697 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260     1769118 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           2 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     3535453 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267      114888 : 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      114888 :   if (fabs(heading_rate) < 1e-3) {
+     272       81746 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       33142 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       33142 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       33142 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       33142 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       33142 :   b_orb.normalize();
+     285       33142 :   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       33142 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       33142 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       33142 :   double projected_norm        = projected.norm();
+     293             : 
+     294       33142 :   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       33142 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       33142 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       33142 :   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       33142 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      339326 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      339326 :   Eigen::Matrix3d R = *this;
+     316      339309 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      339192 :   Eigen::Matrix3d W;
+     320      339220 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      339200 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      339243 :   double rx = R(0, 0);  // x-component of body X
+     327      339095 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      339204 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      339204 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      339204 :   double atan2_d_x = -ry / denom;
+     337      339204 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      339204 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      339243 :   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      330269 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      330269 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      330268 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      660534 :   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      328267 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      328267 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      328265 :   if (fabs(b3[2]) < 1e-3) {
+     410           4 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      328263 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      328263 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      328257 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      328253 :   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      655130 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      328070 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      327965 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      654664 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      328063 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      327915 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      653729 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      654621 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      327028 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      327164 :   new_R.col(0) = oblique_projector * h;
+     439      326245 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      326883 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      324624 :   new_R.col(1).normalize();
+     445             : 
+     446      653311 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      204693 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      204693 :   if (!got_rpy_) {
+     458             : 
+     459      204693 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      204693 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467    14918608 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    29828263 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470    14905527 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473    14908283 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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Test:MRS UAV System - Test coverage reportLines:16221774.7 %
Date:2024-10-08 22:31:24Functions:132356.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
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::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::addPath(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCuboid(mrs_lib::geometry::Cuboid const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)85
mrs_lib::BatchVisualizer::initialize()216
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> >)216
mrs_lib::BatchVisualizer::BatchVisualizer()216
mrs_lib::BatchVisualizer::clearBuffers()238
mrs_lib::BatchVisualizer::clearVisuals()238
mrs_lib::BatchVisualizer::~BatchVisualizer()432
mrs_lib::BatchVisualizer::addNullPoint()454
mrs_lib::BatchVisualizer::addNullLine()466
mrs_lib::BatchVisualizer::addNullTriangle()466
mrs_lib::BatchVisualizer::publish()466
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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/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221774.7 %
Date:2024-10-08 22:31:24Functions:132356.5 %
Legend: Lines: + hit + not hit +
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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()216
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()466
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()454
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()238
mrs_lib::BatchVisualizer::clearVisuals()238
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> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addNullTriangle()466
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::addPath(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::publish()466
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)85
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> >)216
mrs_lib::BatchVisualizer::BatchVisualizer()216
mrs_lib::BatchVisualizer::~BatchVisualizer()432
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5a116ddf18 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html new file mode 100644 index 0000000000..9cd4e1a9ba --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html @@ -0,0 +1,440 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:16221774.7 %
Date:2024-10-08 22:31:24Functions:132356.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         216 : BatchVisualizer::BatchVisualizer() {
+      10         216 : }
+      11             : 
+      12         432 : BatchVisualizer::~BatchVisualizer() {
+      13         432 : }
+      14             : 
+      15         216 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         216 :   this->parent_frame      = parent_frame;
+      17         216 :   this->marker_topic_name = marker_topic_name;
+      18         216 :   initialize();
+      19             : 
+      20         216 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         216 :   publish();
+      22         216 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27          22 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28          22 :   this->parent_frame               = parent_frame;
+      29          22 :   points_marker.header.frame_id    = parent_frame;
+      30          22 :   triangles_marker.header.frame_id = parent_frame;
+      31          22 :   lines_marker.header.frame_id     = parent_frame;
+      32          22 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37         216 : void BatchVisualizer::initialize() {
+      38         216 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         216 :   std::stringstream ss;
+      44         216 :   ss << marker_topic_name << "_points";
+      45         216 :   points_marker.header.frame_id    = parent_frame;
+      46         216 :   points_marker.header.stamp       = ros::Time::now();
+      47         216 :   points_marker.ns                 = ss.str().c_str();
+      48         216 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         216 :   points_marker.pose.orientation.w = 1.0;
+      50         216 :   points_marker.id                 = 8;
+      51         216 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         216 :   points_marker.scale.x = points_scale;
+      54         216 :   points_marker.scale.y = points_scale;
+      55         216 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         216 :   ss.str(std::string());
+      59         216 :   ss << marker_topic_name << "_lines";
+      60         216 :   lines_marker.header.frame_id    = parent_frame;
+      61         216 :   lines_marker.header.stamp       = ros::Time::now();
+      62         216 :   lines_marker.ns                 = ss.str().c_str();
+      63         216 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         216 :   lines_marker.pose.orientation.w = 1.0;
+      65         216 :   lines_marker.id                 = 5;
+      66         216 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         216 :   lines_marker.scale.x = lines_scale;
+      69         216 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         216 :   ss.str(std::string());
+      73         216 :   ss << marker_topic_name << "_triangles";
+      74         216 :   triangles_marker.header.frame_id    = parent_frame;
+      75         216 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         216 :   triangles_marker.ns                 = ss.str().c_str();
+      77         216 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         216 :   triangles_marker.pose.orientation.w = 1.0;
+      79         216 :   triangles_marker.id                 = 11;
+      80         216 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         216 :   triangles_marker.scale.x = 1;
+      83         216 :   triangles_marker.scale.y = 1;
+      84         216 :   triangles_marker.scale.z = 1;
+      85         216 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         216 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         216 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93          85 : 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         170 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96          85 :   visual_objects.insert(obj);
+      97          85 : }
+      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             : /* addPath //{ */
+     161           0 : void BatchVisualizer::addPath(const mrs_msgs::Path &p, const double r, const double g, const double b, const double a, const bool filled,
+     162             :                               const ros::Duration &timeout) {
+     163           0 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, filled, uuid++);
+     164           0 :   visual_objects.insert(obj);
+     165           0 : }
+     166             : //}
+     167             : 
+     168             : /* addTrajectory //{ */
+     169           0 : void BatchVisualizer::addTrajectory(const mrs_msgs::TrajectoryReference &traj, const double r, const double g, const double b, const double a,
+     170             :                                     const bool filled, const ros::Duration &timeout) {
+     171           0 :   VisualObject obj = VisualObject(traj, r, g, b, a, timeout, filled, uuid++);
+     172           0 :   visual_objects.insert(obj);
+     173           0 : }
+     174             : //}
+     175             : 
+     176             : /* addNullPoint //{ */
+     177         454 : void BatchVisualizer::addNullPoint() {
+     178         454 :   geometry_msgs::Point p;
+     179         454 :   p.x = 10000.0;
+     180         454 :   p.y = 0.0;
+     181         454 :   p.z = 0.0;
+     182             : 
+     183         454 :   std_msgs::ColorRGBA c;
+     184         454 :   c.r = 1.0;
+     185         454 :   c.g = 1.0;
+     186         454 :   c.b = 1.0;
+     187         454 :   c.a = 1.0;
+     188             : 
+     189         454 :   points_marker.points.push_back(p);
+     190         454 :   points_marker.colors.push_back(c);
+     191         454 : }
+     192             : //}
+     193             : 
+     194             : /* addNullLine //{ */
+     195         466 : void BatchVisualizer::addNullLine() {
+     196         466 :   geometry_msgs::Point p1, p2;
+     197         466 :   p1.x = 10000.0;
+     198         466 :   p1.y = 0.0;
+     199         466 :   p1.z = 0.0;
+     200             : 
+     201         466 :   p2.x = 10001.0;
+     202         466 :   p2.y = 0.0;
+     203         466 :   p2.z = 0.0;
+     204             : 
+     205         466 :   std_msgs::ColorRGBA c;
+     206         466 :   c.r = 1.0;
+     207         466 :   c.g = 1.0;
+     208         466 :   c.b = 1.0;
+     209             : 
+     210         466 :   lines_marker.colors.push_back(c);
+     211         466 :   lines_marker.colors.push_back(c);
+     212             : 
+     213         466 :   lines_marker.points.push_back(p1);
+     214         466 :   lines_marker.points.push_back(p2);
+     215         466 : }
+     216             : //}
+     217             : 
+     218             : /* addNullTriangle //{ */
+     219         466 : void BatchVisualizer::addNullTriangle() {
+     220         466 :   geometry_msgs::Point p1, p2, p3;
+     221         466 :   p1.x = 10000.0;
+     222         466 :   p1.y = 0.0;
+     223         466 :   p1.z = 0.0;
+     224             : 
+     225         466 :   p2.x = 10001.0;
+     226         466 :   p2.y = 0.0;
+     227         466 :   p2.z = 0.0;
+     228             : 
+     229         466 :   std_msgs::ColorRGBA c;
+     230         466 :   c.r = 1.0;
+     231         466 :   c.g = 1.0;
+     232         466 :   c.b = 1.0;
+     233             : 
+     234         466 :   p3.x = 10001.0;
+     235         466 :   p3.y = 0.01;
+     236         466 :   p3.z = 0.0;
+     237         466 :   triangles_marker.colors.push_back(c);
+     238         466 :   triangles_marker.colors.push_back(c);
+     239         466 :   triangles_marker.colors.push_back(c);
+     240             : 
+     241         466 :   triangles_marker.points.push_back(p1);
+     242         466 :   triangles_marker.points.push_back(p2);
+     243         466 :   triangles_marker.points.push_back(p3);
+     244         466 : }
+     245             : //}
+     246             : 
+     247             : /* setPointsScale //{ */
+     248          22 : void BatchVisualizer::setPointsScale(const double scale) {
+     249          22 :   points_scale = scale;
+     250          22 : }
+     251             : //}
+     252             : 
+     253             : /* setLinesScale //{ */
+     254           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     255           0 :   lines_scale = scale;
+     256           0 : }
+     257             : //}
+     258             : 
+     259             : /* clearBuffers //{ */
+     260         238 : void BatchVisualizer::clearBuffers() {
+     261         238 :   visual_objects.clear();
+     262         238 : }
+     263             : //}
+     264             : 
+     265             : /* clearVisuals //{ */
+     266         238 : void BatchVisualizer::clearVisuals() {
+     267         476 :   std::set<VisualObject> visual_objects_tmp;
+     268         238 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     269             : 
+     270         238 :   visual_objects.clear();
+     271         238 :   publish();
+     272             : 
+     273         238 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     274         238 : }
+     275             : //}
+     276             : 
+     277             : /* publish //{ */
+     278         466 : void BatchVisualizer::publish() {
+     279             : 
+     280         466 :   msg.markers.clear();
+     281         466 :   points_marker.points.clear();
+     282         466 :   points_marker.colors.clear();
+     283             : 
+     284         466 :   lines_marker.points.clear();
+     285         466 :   lines_marker.colors.clear();
+     286             : 
+     287         466 :   triangles_marker.points.clear();
+     288         466 :   triangles_marker.colors.clear();
+     289             : 
+     290             :   // fill marker messages and remove objects that have timed out
+     291         526 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     292          60 :     if (it->isTimedOut()) {
+     293           0 :       it = visual_objects.erase(it);
+     294             :     } else {
+     295         120 :       auto points = it->getPoints();
+     296         120 :       auto colors = it->getColors();
+     297          60 :       switch (it->getType()) {
+     298          60 :         case MarkerType::POINT: {
+     299          60 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     300          60 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     301          60 :           break;
+     302             :         }
+     303           0 :         case MarkerType::LINE: {
+     304           0 :           lines_marker.points.insert(lines_marker.points.end(), points.begin(), points.end());
+     305           0 :           lines_marker.colors.insert(lines_marker.colors.end(), colors.begin(), colors.end());
+     306           0 :           break;
+     307             :         }
+     308           0 :         case MarkerType::TRIANGLE: {
+     309           0 :           triangles_marker.points.insert(triangles_marker.points.end(), points.begin(), points.end());
+     310           0 :           triangles_marker.colors.insert(triangles_marker.colors.end(), colors.begin(), colors.end());
+     311           0 :           break;
+     312             :         }
+     313             :       }
+     314          60 :       it++;
+     315             :     }
+     316             :   }
+     317             : 
+     318         466 :   auto now = ros::Time::now();
+     319             : 
+     320         466 :   if (!points_marker.points.empty()) {
+     321          12 :     points_marker.scale.x = points_scale;
+     322          12 :     points_marker.scale.y = points_scale;
+     323             :   } else {
+     324         454 :     addNullPoint();
+     325             :   }
+     326         466 :   points_marker.header.stamp = now;
+     327         466 :   msg.markers.push_back(points_marker);
+     328             : 
+     329         466 :   if (!lines_marker.points.empty()) {
+     330           0 :     lines_marker.scale.x = lines_scale;
+     331             :   } else {
+     332         466 :     addNullLine();
+     333             :   }
+     334         466 :   lines_marker.header.stamp = now;
+     335         466 :   msg.markers.push_back(lines_marker);
+     336             : 
+     337         466 :   if (!triangles_marker.points.empty()) {
+     338           0 :     triangles_marker.header.stamp = now;
+     339             :   } else {
+     340         466 :     addNullTriangle();
+     341             :   }
+     342         466 :   triangles_marker.header.stamp = now;
+     343         466 :   msg.markers.push_back(triangles_marker);
+     344             : 
+     345         466 :   if (msg.markers.empty()) {
+     346           0 :     addNullPoint();
+     347           0 :     points_marker.scale.x = 0.1;
+     348           0 :     points_marker.scale.y = 0.1;
+     349           0 :     msg.markers.push_back(points_marker);
+     350             :   }
+     351             : 
+     352         466 :   visual_pub.publish(msg);
+     353         466 : }
+     354             : //}
+     355             : 
+     356             : }  // namespace mrs_lib
+
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+
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batch_visualizer.cpp +
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batch_visualizer.cpp +
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+ 		74.7 %162 / 21756.5 %13 / 23
visual_object.cpp +
13.8%13.8%
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+
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Generated by: LCOV version 1.14
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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:3021813.8 %
Date:2024-10-08 22:31:24Functions:72231.8 %
Legend: Lines: + hit + not hit +
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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_msgs::Path_<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::VisualObject::isTimedOut() const60
mrs_lib::VisualObject::getType() const60
mrs_lib::VisualObject::getColors() const60
mrs_lib::VisualObject::getPoints() const60
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)85
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)85
mrs_lib::generateColor(double, double, double, double)85
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html new file mode 100644 index 0000000000..77c2003e2d --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html @@ -0,0 +1,168 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp - functions + + + + + + + + + + + + + + +
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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:3021813.8 %
Date:2024-10-08 22:31:24Functions:72231.8 %
Legend: Lines: + hit + not hit +
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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&)85
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&)85
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_msgs::Path_<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)85
mrs_lib::VisualObject::isTimedOut() const60
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const60
mrs_lib::VisualObject::getColors() const60
mrs_lib::VisualObject::getPoints() const60
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LCOV - code coverage report
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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:3021813.8 %
Date:2024-10-08 22:31:24Functions:72231.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/visual_object.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* utils //{ */
+       7             : 
+       8             : /* conversions //{ */
+       9          85 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10          85 :   geometry_msgs::Point p;
+      11          85 :   p.x = v.x();
+      12          85 :   p.y = v.y();
+      13          85 :   p.z = v.z();
+      14          85 :   return p;
+      15             : }
+      16             : 
+      17          85 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18          85 :   std_msgs::ColorRGBA c;
+      19          85 :   c.r = r;
+      20          85 :   c.g = g;
+      21          85 :   c.b = b;
+      22          85 :   c.a = a;
+      23          85 :   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          85 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116          85 :                            const unsigned long& id)
+     117          85 :     : id_(id) {
+     118          85 :   type_ = MarkerType::POINT;
+     119          85 :   points_.push_back(eigenToMsg(point));
+     120          85 :   colors_.push_back(generateColor(r, g, b, a));
+     121          85 :   if (timeout.toSec() <= 0) {
+     122          85 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126          85 : }
+     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::Path //{ */
+     254           0 : VisualObject::VisualObject(const mrs_msgs::Path& p, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     255           0 :                            const bool filled, const unsigned long& id)
+     256           0 :     : id_(id) {
+     257           0 :   if (p.points.size() < 2) {
+     258           0 :     return;
+     259             :   }
+     260           0 :   if (filled) {
+     261           0 :     for (size_t i = 0; i < p.points.size() - 1; i++) {
+     262           0 :       Eigen::Vector3d p1, p2;
+     263           0 :       p1.x()   = p.points[i].position.x;
+     264           0 :       p1.y()   = p.points[i].position.y;
+     265           0 :       p1.z()   = p.points[i].position.z;
+     266           0 :       p2.x()   = p.points[i + 1].position.x;
+     267           0 :       p2.y()   = p.points[i + 1].position.y;
+     268           0 :       p2.z()   = p.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 < p.points.size(); i++) {
+     275           0 :       points_.push_back(p.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             : /* mrs_msgs::TrajectoryReference //{ */
+     288           0 : VisualObject::VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a,
+     289           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     290           0 :     : id_(id) {
+     291           0 :   if (traj.points.size() < 2) {
+     292           0 :     return;
+     293             :   }
+     294           0 :   if (filled) {
+     295           0 :     for (size_t i = 0; i < traj.points.size() - 1; i++) {
+     296           0 :       Eigen::Vector3d p1, p2;
+     297           0 :       p1.x()   = traj.points[i].position.x;
+     298           0 :       p1.y()   = traj.points[i].position.y;
+     299           0 :       p1.z()   = traj.points[i].position.z;
+     300           0 :       p2.x()   = traj.points[i + 1].position.x;
+     301           0 :       p2.y()   = traj.points[i + 1].position.y;
+     302           0 :       p2.z()   = traj.points[i + 1].position.z;
+     303           0 :       auto ray = mrs_lib::geometry::Ray::twopointCast(p1, p2);
+     304           0 :       addRay(ray, r, g, b, a);
+     305             :     }
+     306             :   } else {
+     307           0 :     type_ = MarkerType::POINT;
+     308           0 :     for (size_t i = 0; i < traj.points.size(); i++) {
+     309           0 :       points_.push_back(traj.points[i].position);
+     310           0 :       colors_.push_back(generateColor(r, g, b, a));
+     311             :     }
+     312             :   }
+     313           0 :   if (timeout.toSec() <= 0) {
+     314           0 :     timeout_time_ = ros::Time(0);
+     315             :   } else {
+     316           0 :     timeout_time_ = ros::Time::now() + timeout;
+     317             :   }
+     318             : }
+     319             : //}
+     320             : 
+     321             : /* getID //{ */
+     322           0 : unsigned long VisualObject::getID() const {
+     323           0 :   return id_;
+     324             : }
+     325             : //}
+     326             : 
+     327             : /* getType //{ */
+     328          60 : int VisualObject::getType() const {
+     329          60 :   return type_;
+     330             : }
+     331             : //}
+     332             : 
+     333             : /* isTimedOut //{ */
+     334          60 : bool VisualObject::isTimedOut() const {
+     335          60 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     336             : }
+     337             : //}
+     338             : 
+     339             : /* getPoints //{ */
+     340          60 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     341          60 :   return points_;
+     342             : }
+     343             : //}
+     344             : 
+     345             : /* getColors //{ */
+     346          60 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     347          60 :   return colors_;
+     348             : }
+     349             : //}
+     350             : 
+     351             : }  // namespace mrs_lib
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html new file mode 100644 index 0000000000..a95610f629 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html @@ -0,0 +1,108 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.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 + + +
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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..b55f768965809edc613746889e563a4b1d7241f7 GIT binary patch literal 1229 zcmV;;1Ty=HP)2Nbs` zoTWIMm+F|wabY=fTua7yD)2OcZ?1tqZfc870j#l2Yw;o2ic`x%3rtvl0Lx4PG`AX> zSp(Y;p0(%cBnKv%DmNZ|4n&W5{FpRoIqT;Gxdu>ZXVGxGz%vc^5Lf8?!DL)P<*I@5 zT-jfvkf~5LBdgkHnks(V$ZzVIdDk+qANw=*M+J*P)A!J7s}Gn8z(w@s}=n{PM>>>MLb z;));`^*Izs%PdZxQL$rMD`g|Pj^LI9jWNKc=)j_ZG9A`thB>x`VVi`M2b^oV>-U>T zGyCMIic~Xi5$HML#Ir|^ZOT!OJ<8wY*MdCdS+#urW46DGJx)b|>OOhea=t2RHPAe} zbZcExHZN(OfCtu%?41D4X7mWGfr-zV8LDQ+!xo0F1!};|GwguD9;>>GNQR|GA)Zxe zj=lztn_2HAQhS>!&cOvW7FRqj}<;${}1n(02btrfqpw-A4y&R z)_Oi6NcBP$XFaKqYFJM|C~s-5<{Ge`M8~~gH>%3LjDiR5HHvmr;f=yw8mlLc|Q1EgcU0*vOlLx#mV%xQ`hWm90;EW<-=PckKX&-L<=B1XAnLSH;fvDBj9-*#5_Uj)e4#yy3u#JrPrkvOg~3Zg_6&wTMgM zj|Vo=%;SLnI^u44y0jH>$<0a#bVb~(M-kJfM_kcYPQ0lU_D{*(Z&&WKe)>Lp3ESD% zINWBB#s&iS4T$#chy)bxRXFPHD%k3lHo@?G2d?wYCjO-8U_PH~fwG^4vf~~gB! + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:71070.0 %
Legend: Lines: + hit + not hit +
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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&)148949
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)148949
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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:2024-10-08 22:31:24Functions:71070.0 %
Legend: Lines: + hit + not hit +
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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&)148949
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&)148949
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:71070.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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      148949 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49      148949 :       geometry_msgs::Quaternion q;
+      50      148949 :       q.x = what.x();
+      51      148949 :       q.y = what.y();
+      52      148949 :       q.z = what.z();
+      53      148949 :       q.w = what.w();
+      54      148949 :       return q;
+      55             :     }
+      56             :     
+      57      148949 :     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      148949 :       Eigen::Quaterniond q;
+      61      148949 :       q.x() = what.x;
+      62      148949 :       q.y() = what.y;
+      63      148949 :       q.z() = what.z;
+      64      148949 :       q.w() = what.w;
+      65      148949 :       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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Test:MRS UAV System - Test coverage reportLines:6744515.1 %
Date:2024-10-08 22:31:24Functions:159416.0 %
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Test:MRS UAV System - Test coverage reportLines:6744515.1 %
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shapes.cpp +
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misc.cpp +
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conversions.cpp +
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<unnamed>69.6 %32 / 4670.0 %7 / 10
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Current view:top level - mrs_lib/src/geometryHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6744515.1 %
Date:2024-10-08 22:31:24Functions:159416.0 %
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conversions.cpp +
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<unnamed>69.6 %32 / 4670.0 %7 / 10
misc.cpp +
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Test:MRS UAV System - Test coverage reportLines:6744515.1 %
Date:2024-10-08 22:31:24Functions:159416.0 %
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Test:MRS UAV System - Test coverage reportLines:6744515.1 %
Date:2024-10-08 22:31:24Functions:159416.0 %
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shapes.cpp +
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misc.cpp +
54.7%54.7%
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conversions.cpp +
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Date:2024-10-08 22:31:24Functions:159416.0 %
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conversions.cpp +
69.6%69.6%
+ 		69.6 %32 / 4670.0 %7 / 10
misc.cpp +
54.7%54.7%
+ 		54.7 %35 / 6450.0 %8 / 16
shapes.cpp +
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-10-08 22:31:24Functions:81650.0 %
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::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::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::quaternionFromHeading(double)148955
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)160437
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)231420
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)379520
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-10-08 22:31:24Functions:81650.0 %
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&)160437
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)148955
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&)379520
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)231420
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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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/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-10-08 22:31:24Functions:81650.0 %
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      160437 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      160437 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      160422 :       const double cos_12 = vec1.dot(vec2);
+      32      160416 :       const double angle = std::atan2(sin_12, cos_12);
+      33      160416 :       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      148955 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      297910 :       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      379520 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173      379520 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176      231420 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      231420 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
+
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-10-08 22:31:24Functions:0680.0 %
Legend: Lines: + hit + not hit +
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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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LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-10-08 22:31:24Functions:0680.0 %
Legend: Lines: + hit + not hit +
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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
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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..d5637fbc9e --- /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:2024-10-08 22:31:24Functions: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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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
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mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)92
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)93
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)95
mrs_lib::MedianFilter::check(double)151413
mrs_lib::MedianFilter::median() const151427
mrs_lib::MedianFilter::full() const160405
mrs_lib::MedianFilter::add(double)160460
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mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)160460
mrs_lib::MedianFilter::check(double)151413
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)92
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)95
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)93
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const160405
mrs_lib::MedianFilter::median() const151427
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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          95 :   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          95 :       m_max_diff(max_diff)
+      12             :   {
+      13          95 :     m_buffer.set_capacity(buffer_length);
+      14          95 :     m_buffer_sorted.reserve(buffer_length);
+      15          95 :   }
+      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          92 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          92 :     *this = other;
+      34          92 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          93 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          93 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          93 :     m_buffer = other.m_buffer;
+      44          93 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          93 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          93 :     m_min_valid = other.m_min_valid;
+      49          93 :     m_max_valid = other.m_max_valid;
+      50          93 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         186 :     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      160460 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      320858 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      160446 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      160410 :     m_median = std::nullopt;
+      80      160432 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84      151413 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86      151413 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88      151427 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      302848 :     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      160405 :   bool MedianFilter::full() const
+     113             :   {
+     114      320836 :     std::scoped_lock lck(m_mtx);
+     115      320854 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120      151427 :   double MedianFilter::median() const
+     121             :   {
+     122      302878 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124      151432 :     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      151406 :     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      151422 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137      151440 :     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      151410 :     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      151372 :     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      151393 :     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      151431 :     if (even_set)
+     148      151415 :       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      151421 :     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&) const4
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)4730
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15608
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const104365
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15608
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)4730
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const104365
mrs_lib::ParamProvider::getParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&) const4
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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        4730 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        4730 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        4730 :   }
+      17             : 
+      18       15608 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       31216 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23       15608 :       YAML::Node root;
+      24       15607 :       root["root"] = loaded_yaml;
+      25       15608 :       m_yamls.emplace_back(root);
+      26       15608 :       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           4 :   bool ParamProvider::getParam(const std::string& param_name, XmlRpc::XmlRpcValue& value_out) const
+      47             :   {
+      48           4 :     if (m_use_rosparam && m_nh.getParam(param_name, value_out))
+      49           2 :       return true;
+      50             : 
+      51             :     try
+      52             :     {
+      53           4 :       const auto found_node = findYamlNode(param_name);
+      54           2 :       if (found_node.has_value())
+      55           1 :         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           2 :     return false;
+      62             :   }
+      63             : 
+      64      104365 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      545568 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      526507 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      526505 :       if (!cur_node_it->second.IsMap())
+      72       17223 :         continue;
+      73             : 
+      74      509282 :       bool loaded = true;
+      75             :       {
+      76      509282 :         constexpr char delimiter = '/';
+      77      509282 :         auto substr_start = std::cbegin(param_name);
+      78      509286 :         auto substr_end = substr_start;
+      79      692963 :         do
+      80             :         {
+      81     1202249 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83     1202241 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84     1202241 :           const auto count = std::distance(substr_start, substr_end);
+      85     1202244 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86     1202241 :           substr_start = substr_end+1;
+      87             : 
+      88     1202244 :           bool found = false;
+      89     4912601 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     2508075 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      778265 :               cur_node_it = node_it;
+      94      778269 :               found = true;
+      95      778269 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99     1202241 :           if (!found)
+     100             :           {
+     101      423977 :             loaded = false;
+     102      423977 :             break;
+     103             :           }
+     104             :         }
+     105      778264 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      509288 :       if (loaded)
+     109             :       {
+     110      170622 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       19053 :     return std::nullopt;
+     115             :   }
+     116             : }
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-10-08 22:31:24Functions:91090.0 %
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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)1513
mrs_lib::Profiler::Profiler()1513
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1513
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)740574
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)740683
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)2077445
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2077481
mrs_lib::Routine::end()2818048
mrs_lib::Routine::~Routine()2818164
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-10-08 22:31:24Functions:91090.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Routine::end()2818048
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)2077445
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)740683
mrs_lib::Routine::~Routine()2818164
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2077481
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)740574
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)1513
mrs_lib::Profiler::Profiler()1513
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1513
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-10-08 22:31:24Functions:91090.0 %
Legend: Lines: + hit + not hit +
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+
          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        1513 : Profiler::Profiler() {
+      11        1513 : }
+      12             : 
+      13        1513 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15        1513 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16        1513 :   this->_node_name_        = _node_name_;
+      17        1513 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19        1513 :   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        1513 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26        1513 :   this->is_initialized_ = true;
+      27        1513 : }
+      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        1513 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44        1513 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48        1513 :   this->is_initialized_    = other.is_initialized_;
+      49        1513 :   this->nh_                = other.nh_;
+      50        1513 :   this->_node_name_        = other._node_name_;
+      51        1513 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53        1513 :   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        1513 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      740574 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      740574 :   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     2077481 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     2077481 :   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      740683 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      740683 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      739727 :   if (!profiler_enabled) {
+      89      739788 :     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     2077445 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     2077445 :                  bool profiler_enabled) {
+     142             : 
+     143     2076574 :   if (!profiler_enabled) {
+     144     2076596 :     return;
+     145             :   }
+     146             : 
+     147           1 :   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     2818048 : void Routine::end(void) {
+     186             : 
+     187     2818048 :   if (!_profiler_enabled_) {
+     188     2817717 :     return;
+     189             :   }
+     190             : 
+     191         332 :   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     2817875 : Routine::~Routine() {
+     213             : 
+     214     2818164 :   this->end();
+     215     2816265 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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66.7%66.7%
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66.7%66.7%
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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line_operations.cpp +
66.7%66.7%
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60.0%60.0%
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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:162466.7 %
Date:2024-10-08 22:31:24Functions:33100.0 %
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>)526
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)564
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>)564
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Test:MRS UAV System - Test coverage reportLines:162466.7 %
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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>)526
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)564
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>)564
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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:162466.7 %
Date:2024-10-08 22:31:24Functions: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         526 : 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         526 :   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         564 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         564 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         564 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         564 :   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         564 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         564 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         564 :   if (cross == 0) {
+      32             :     // are parallel
+      33          38 :     if (difference_cross != 0)
+      34          38 :       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         526 :   double             scale1 = difference_cross / cross;
+      48         526 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         526 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         526 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         526 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
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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 %
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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::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::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)86
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)141
mrs_lib::Polygon::isPointInside(double, double)9986
mrs_lib::Polygon::getPointMessageVector(double)24898
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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:2024-10-08 22:31:24Functions:4850.0 %
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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)9986
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)141
mrs_lib::Polygon::getPointMessageVector(double)24898
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)86
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:2024-10-08 22:31:24Functions:4850.0 %
Legend: Lines: + hit + not hit +
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+
          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          86 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          86 :   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          86 :   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          86 :   Eigen::RowVector2d edge1;
+      21          86 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         430 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         344 :     edge1 = edge2;
+      24         344 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         344 :     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         344 :     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          86 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        9986 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        9986 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       49930 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       39944 :     double v1x = vertices(i, 0);
+      48       39944 :     double v1y = vertices(i, 1);
+      49       39944 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       39944 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       39944 :     if (v1y > py && v2y > py)
+      53        9912 :       continue;
+      54       30032 :     if (v1y <= py && v2y <= py)
+      55       10208 :       continue;
+      56       19824 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57       19824 :     bool   does_intersect = intersect_x > px;
+      58       19824 :     if (does_intersect)
+      59        9909 :       ++count;
+      60             :   }
+      61             : 
+      62        9986 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69         141 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71         141 :   Eigen::RowVector2d start{startX, startY};
+      72         141 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         705 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         564 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         564 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         564 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84         141 :   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       24898 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       24898 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195      124490 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       99592 :     points[i].x = vertices(i, 0);
+     197       99592 :     points[i].y = vertices(i, 1);
+     198       99592 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       24898 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
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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:152560.0 %
Date:2024-10-08 22:31:24Functions:5683.3 %
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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::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)86
mrs_lib::SafetyZone::~SafetyZone()86
mrs_lib::SafetyZone::isPathValid(double, double, double, double)141
mrs_lib::SafetyZone::isPointValid(double, double)9986
mrs_lib::SafetyZone::getBorder()12449
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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:152560.0 %
Date:2024-10-08 22:31:24Functions:5683.3 %
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mrs_lib::SafetyZone::isPathValid(double, double, double, double)141
mrs_lib::SafetyZone::isPointValid(double, double)9986
mrs_lib::SafetyZone::getBorder()12449
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)86
mrs_lib::SafetyZone::~SafetyZone()86
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
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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         172 : SafetyZone::~SafetyZone() {
+      17          86 :   delete outerBorder;
+      18          86 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          86 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          86 :     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          86 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        9986 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        9986 :   if (!outerBorder->isPointInside(px, py)) {
+      47          77 :     return false;
+      48             :   }
+      49             : 
+      50        9909 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57         141 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59         141 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63         141 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70       12449 : Polygon SafetyZone::getBorder() {
+      71       12449 :   return *outerBorder;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : }  // namespace mrs_lib
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1914213.4 %
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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)756
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()756
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4563864
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)5764634
mrs_lib::ScopeTimer::~ScopeTimer()5766720
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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&)4563864
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)5764634
mrs_lib::ScopeTimer::~ScopeTimer()5766720
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)756
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()756
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1914213.4 %
Date:2024-10-08 22:31:24Functions:51050.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         756 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         756 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         756 :   if (!_logging_enabled_) {
+      13         756 :     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         756 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         756 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         756 : }
+      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     5764634 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     5764634 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     5753506 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     5752885 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     5752885 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     4563864 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     4563864 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     4563864 : }
+     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    17295017 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     5766720 :   if (!_enable_print_or_log) {
+     138     5766796 :     return;
+     139             :   }
+     140             : 
+     141           0 :   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     5764440 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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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::pause(unsigned long)9
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)102
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)105
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)105
mrs_lib::TimeoutManager::started(unsigned long)1453
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19563
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)204211
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mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)105
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19563
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)204211
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)105
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)1453
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&)102
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6         102 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7         102 :     : m_last_id(0)
+       8             :   {
+       9         102 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10         102 :   }
+      11             : 
+      12             : 
+      13         105 :   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         105 :     std::scoped_lock lck(m_mtx);
+      16         105 :     const auto new_id = m_timeouts.size();
+      17             :     m_timeouts.emplace_back(
+      18         105 :       timeout_info_t{
+      19             :         oneshot,
+      20             :         autostart,
+      21             :         callback,
+      22             :         timeout,
+      23             :         last_reset,
+      24             :         last_reset
+      25         105 :       });
+      26         210 :     return new_id;
+      27             :   }
+      28             : 
+      29      204211 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      30             :   {
+      31      204211 :     std::scoped_lock lck(m_mtx);
+      32      204211 :     m_timeouts.at(id).last_reset = time;
+      33      204211 :   }
+      34             : 
+      35           9 :   void TimeoutManager::pause(const timeout_id_t id)
+      36             :   {
+      37           9 :     std::scoped_lock lck(m_mtx);
+      38           9 :     m_timeouts.at(id).started = false;
+      39           9 :   }
+      40             : 
+      41         105 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      42             :   {
+      43         105 :     std::scoped_lock lck(m_mtx);
+      44         105 :     m_timeouts.at(id).started = true;
+      45         105 :     m_timeouts.at(id).last_reset = time;
+      46         105 :   }
+      47             : 
+      48           2 :   void TimeoutManager::pauseAll()
+      49             :   {
+      50           4 :     std::scoped_lock lck(m_mtx);
+      51          10 :     for (auto& timeout_info : m_timeouts)
+      52           8 :       timeout_info.started = false;
+      53           2 :   }
+      54             : 
+      55           4 :   void TimeoutManager::startAll(const ros::Time& time)
+      56             :   {
+      57           8 :     std::scoped_lock lck(m_mtx);
+      58          20 :     for (auto& timeout_info : m_timeouts)
+      59             :     {
+      60          16 :       timeout_info.started = true;
+      61          16 :       timeout_info.last_reset = time;
+      62             :     }
+      63           4 :   }
+      64             : 
+      65           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)
+      66             :   {
+      67           0 :     std::scoped_lock lck(m_mtx);
+      68           0 :     auto& timeout_info = m_timeouts.at(id);
+      69           0 :     timeout_info.oneshot = oneshot;
+      70           0 :     timeout_info.started = autostart;
+      71           0 :     timeout_info.timeout = timeout;
+      72           0 :     timeout_info.callback = callback;
+      73           0 :     timeout_info.last_reset = last_reset;
+      74           0 :   }
+      75             : 
+      76           0 :   ros::Time TimeoutManager::lastReset(const timeout_id_t id)
+      77             :   {
+      78           0 :     std::scoped_lock lck(m_mtx);
+      79           0 :     return m_timeouts.at(id).last_reset;
+      80             :   }
+      81             : 
+      82        1453 :   bool TimeoutManager::started(const timeout_id_t id)
+      83             :   {
+      84        1453 :     std::scoped_lock lck(m_mtx);
+      85        2906 :     return m_timeouts.at(id).started;
+      86             :   }
+      87             : 
+      88       19563 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      89             :   {
+      90       19563 :     const auto now = ros::Time::now();
+      91             : 
+      92       39126 :     std::scoped_lock lck(m_mtx);
+      93       42411 :     for (auto& timeout_info : m_timeouts)
+      94             :     {
+      95             :       // don't worry, these variables will get optimized out by the compiler
+      96       22848 :       const bool started = timeout_info.started;
+      97       22848 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      98       22848 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      99       22848 :       if (started && last_reset_timeout && last_callback_timeout)
+     100             :       {
+     101        1976 :         timeout_info.callback(timeout_info.last_reset);
+     102        1976 :         timeout_info.last_callback = now;
+     103             :         // if the timeout is oneshot, pause it
+     104        1976 :         if (timeout_info.oneshot)
+     105           0 :           timeout_info.started = false;
+     106             :       }
+     107             :     }
+     108       19563 :   }
+     109             : }
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Date:2024-10-08 22:31:24Functions:151883.3 %
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timer.cpp +
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-10-08 22:31:24Functions:151883.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ROSTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
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::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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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-10-08 22:31:24Functions:151883.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
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::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
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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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-10-08 22:31:24Functions:151883.3 %
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             : /* setCallback() //{ */
+      48             : 
+      49           0 : void ROSTimer::setCallback([[maybe_unused]] const std::function<void(const ros::TimerEvent&)>& callback) {
+      50             : 
+      51           0 :   ROS_ERROR("[mrs_lib::ROSTimer]: setCallback(...) is not implemented for ROSTimer! Check [mrs_lib/src/timer/timer.cpp].");
+      52           0 : }
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* running() //{ */
+      57             : 
+      58         215 : bool ROSTimer::running()
+      59             : {
+      60         430 :   std::scoped_lock lock(mutex_timer_);
+      61             : 
+      62         215 :   if (timer_)
+      63         215 :     return timer_->hasStarted();
+      64             :   else
+      65           0 :     return false;
+      66             : }
+      67             : 
+      68             : //}
+      69             : 
+      70             : // | ----------------------- ThreadTimer ---------------------- |
+      71             : 
+      72             : /* TheadTimer::start() //{ */
+      73             : 
+      74          24 : void ThreadTimer::start() {
+      75             : 
+      76          24 :   if (impl_) {
+      77          24 :     impl_->start();
+      78             :   }
+      79          24 : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* ThreadTimer::stop() //{ */
+      84             : 
+      85          24 : void ThreadTimer::stop() {
+      86             : 
+      87          24 :   if (impl_) {
+      88          24 :     impl_->stop();
+      89             :   }
+      90          24 : }
+      91             : 
+      92             : //}
+      93             : 
+      94             : /* ThreadTimer::setPeriod() //{ */
+      95             : 
+      96           8 : void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset) {
+      97             : 
+      98           8 :   if (impl_) {
+      99           8 :     impl_->setPeriod(duration, reset);
+     100             :   }
+     101           8 : }
+     102             : 
+     103             : //}
+     104             : 
+     105             : /* ThreadTimer::setCallback() //{ */
+     106             : 
+     107           0 : void ThreadTimer::setCallback(const std::function<void(const ros::TimerEvent&)>& callback) {
+     108           0 :   if (impl_) {
+     109           0 :     impl_->setCallback(callback);
+     110             :   }
+     111           0 : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* ThreadTimer::running() //{ */
+     116             : 
+     117         208 : bool ThreadTimer::running()
+     118             : {
+     119         208 :   if (impl_)
+     120         208 :     return impl_->running_;
+     121             :   else
+     122           0 :     return false;
+     123             : }
+     124             : 
+     125             : //}
+     126             : 
+     127             : /* ThreadTimer::Impl //{ */
+     128             : 
+     129           8 : ThreadTimer::Impl::Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot)
+     130           8 :   : callback_(callback), oneshot_(oneshot), delay_dur_(delay_dur)
+     131             : {
+     132           8 :   ending_  = false;
+     133           8 :   running_ = false;
+     134             : 
+     135           8 :   last_real_     = ros::Time(0);
+     136           8 :   last_expected_ = ros::Time(0);
+     137           8 :   next_expected_ = ros::Time(0);
+     138             : 
+     139           8 :   thread_ = std::thread(&ThreadTimer::Impl::threadFcn, this);
+     140           8 : }
+     141             : 
+     142           8 : ThreadTimer::Impl::~Impl()
+     143             : {
+     144             :   {
+     145             :     // signal the thread to end
+     146          16 :     std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     147           8 :     ending_ = true;
+     148           8 :     wakeup_cond_.notify_all();
+     149             :   }
+     150             :   // wait for it to die
+     151           8 :   thread_.join();
+     152           8 : }
+     153             : 
+     154          24 : void ThreadTimer::Impl::start()
+     155             : {
+     156          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     157          24 :   if (!running_)
+     158             :   {
+     159          24 :     next_expected_ = ros::Time::now() + delay_dur_;
+     160          24 :     running_ = true;
+     161          24 :     wakeup_cond_.notify_all();
+     162             :   }
+     163          24 : }
+     164             : 
+     165          24 : void ThreadTimer::Impl::stop()
+     166             : {
+     167          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     168          24 :   running_ = false;
+     169          24 :   wakeup_cond_.notify_all();
+     170          24 : }
+     171             : 
+     172           8 : void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset)
+     173             : {
+     174          16 :   std::scoped_lock lock(mutex_wakeup_, mutex_state_);
+     175           8 :   delay_dur_ = duration;
+     176             :   // gracefully handle the special case
+     177           8 :   if (duration == ros::Duration(0))
+     178           0 :     this->oneshot_  = true;
+     179           8 : }
+     180             : 
+     181           0 : void ThreadTimer::Impl::setCallback(const std::function<void(const ros::TimerEvent&)>& callback){
+     182           0 :   std::scoped_lock lock(mutex_state_);
+     183             : 
+     184           0 :   callback_ = callback;
+     185           0 : }
+     186             : 
+     187             : //}
+     188             : 
+     189             : /* ThreadTimer::breakableSleep() method //{ */
+     190         408 : bool ThreadTimer::Impl::breakableSleep(const ros::Time& until)
+     191             : {
+     192         408 :   while (ros::ok() && ros::Time::now() < until)
+     193             :   {
+     194         208 :     const std::chrono::nanoseconds dur {(until - ros::Time::now()).toNSec()};
+     195         208 :     const std::chrono::time_point<std::chrono::steady_clock> until_stl = std::chrono::steady_clock::now() + dur;
+     196         208 :     std::unique_lock lck(mutex_wakeup_);
+     197         208 :     if (!ending_ && running_)
+     198         208 :       wakeup_cond_.wait_until(lck, until_stl);
+     199             :     // check the flags while mutex_state_ is locked
+     200         208 :     if (ending_ || !running_)
+     201           8 :       return false;
+     202             :   }
+     203         200 :   return true;
+     204             : }
+     205             : //}
+     206             : 
+     207             : /* ThreadTimer::Impl::threadFcn() //{ */
+     208             : 
+     209         216 : void ThreadTimer::Impl::threadFcn()
+     210             : {
+     211         216 :   while (ros::ok() && !ending_)
+     212             :   {
+     213             :     {
+     214         216 :       std::unique_lock lck(mutex_wakeup_);
+     215             :       // if the timer is not yet started, wait for condition variable notification
+     216         216 :       if (!running_ && !ending_)
+     217          16 :         wakeup_cond_.wait(lck);
+     218             :       // The thread either got cv-notified, or running_ was already true, or it got woken up for some other reason.
+     219             :       // Check if the reason is that we should end (and end if it is).
+     220         216 :       if (ending_)
+     221           8 :         break;
+     222             :       // Check if the timer is still paused - probably was a spurious wake up (and restart the wait if it is).
+     223         208 :       if (!running_)
+     224           0 :         continue;
+     225             :     }
+     226             : 
+     227             :     // If the flow got here, the thread should attempt to wait for the specified duration.
+     228             :     // first, copy the delay we should wait for in a thread-safe manner
+     229         208 :     ros::Time next_expected;
+     230             :     {
+     231         208 :       std::scoped_lock lck(mutex_state_);
+     232         208 :       next_expected = next_expected_;
+     233             :     }
+     234         208 :     const bool interrupted = !breakableSleep(next_expected);
+     235         208 :     if (interrupted)
+     236           8 :       continue;
+     237             : 
+     238             :     {
+     239             :       // make sure the state doesn't change here
+     240         200 :       std::scoped_lock lck(mutex_state_);
+     241             :       // Again, check if everything is OK (the state may have changed while the thread was a sleeping beauty).
+     242             :       // Check if we should end (and end if it is so).
+     243         200 :       if (ending_)
+     244           0 :         break;
+     245             :       // Check if the timer is paused (and skip if it is so).
+     246         200 :       if (!running_)
+     247           0 :         continue;
+     248             : 
+     249             :       // If all is fine and dandy, actually run the callback function!
+     250             :       // if the timer is a oneshot-type, automatically pause it
+     251             :       // and do not fill out the expected fields in timer_event (we had no expectations...)
+     252         200 :       const ros::Time now = ros::Time::now();
+     253             :       // prepare the timer event
+     254         200 :       ros::TimerEvent timer_event;
+     255         200 :       if (oneshot_)
+     256             :       {
+     257           0 :         running_ = false;
+     258           0 :         timer_event.last_real        = last_real_;
+     259           0 :         timer_event.current_real     = now;
+     260             :       }
+     261             :       else
+     262             :       {
+     263         200 :         timer_event.last_expected    = last_expected_;
+     264         200 :         timer_event.last_real        = last_real_;
+     265         200 :         timer_event.current_expected = next_expected_;
+     266         200 :         timer_event.current_real     = now;
+     267             : 
+     268         200 :         last_expected_ = next_expected_;
+     269         200 :         next_expected_ = now + delay_dur_;
+     270             :       }
+     271         200 :       last_real_ = now;
+     272             :       // call the callback
+     273         200 :       callback_(timer_event);
+     274             :     }
+     275             :   }
+     276           8 : }
+     277             : 
+     278             : //}
+     279             : 
+     280             : }  // 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()207
mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)2045750
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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()207
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Current view:top level - mrs_lib/src/transform_broadcaster - transform_broadcaster.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/transform_broadcaster.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* constructor //{ */
+       7         207 : TransformBroadcaster::TransformBroadcaster() {
+       8         207 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         207 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     2045750 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     4089746 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     2042330 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     2043829 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1725336 :       broadcaster_.sendTransform(transform);
+      18     1728318 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      314732 :       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        2156 :     std::pair<std::string, ros::Time> new_pair;
+      25        1064 :     new_pair.first  = frames_from_to;
+      26        1064 :     new_pair.second = transform.header.stamp;
+      27        1064 :     broadcaster_.sendTransform(transform);
+      28        1064 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     2046064 : }
+      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
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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&)751
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2143
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2143
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2145
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4297
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&)24342
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)148949
mrs_lib::Transformer::setLatLon(double, double)156201
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&)1829692
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7676596
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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/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18628066.4 %
Date:2024-10-08 22:31:24Functions: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&)24342
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&)148949
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4297
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&)1829692
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7676596
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&)2143
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&)2143
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2145
mrs_lib::Transformer::setLatLon(double, double)156201
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)751
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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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/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18628066.4 %
Date:2024-10-08 22:31:24Functions: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         751 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         751 :     : 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         751 :   }
+      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       24342 :   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       48690 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       24348 :     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       48696 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       48696 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       48696 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       24348 :     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      156201 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      156201 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      155636 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      155462 :     got_utm_zone_ = true;
+     124      155046 :   }
+     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      148949 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      297898 :     geometry_msgs::PoseStamped pose;
+     256      148949 :     pose.header = what.header;
+     257             :   
+     258      148949 :     pose.pose.position.x = what.reference.position.x;
+     259      148949 :     pose.pose.position.y = what.reference.position.y;
+     260      148949 :     pose.pose.position.z = what.reference.position.z;
+     261      148949 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      297898 :     const auto pose_opt = transformImpl(tf, pose);
+     265      148949 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268      148949 :     pose = pose_opt.value();
+     269             :   
+     270      297898 :     mrs_msgs::ReferenceStamped ret;
+     271      148949 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274      148949 :     ret.reference.position.x = pose.pose.position.x;
+     275      148949 :     ret.reference.position.y = pose.pose.position.y;
+     276      148949 :     ret.reference.position.z = pose.pose.position.z;
+     277      148949 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278      148949 :     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     1829692 :   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     1829692 :     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     1829692 :     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     1829680 :     if (from_frame == to_frame)
+     319      445773 :       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     1606799 :     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     1606800 :     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        4294 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        4294 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        2147 :       if (!tf_opt.has_value())
+     339           1 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        2146 :       frame_to(*tf_opt) = to_frame;
+     342        2146 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     4813919 :     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     2205629 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     2007321 :     catch (tf2::TransformException& e)
+     353             :     {
+     354     1003666 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358     1003653 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1991768 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       30850 :       catch (tf2::TransformException& e)
+     365             :       {
+     366       15425 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371       15459 :     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       15459 :       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       15458 :     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     7676596 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     7676596 :     if (frame_id.empty())
+     467        6907 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     7669728 :     if (prefix_.empty())
+     471     4752391 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     2917205 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1838636 :       return prefix_ + frame_id;
+     476             : 
+     477     1078718 :     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        2145 :   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        2145 :     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        2144 :     geometry_msgs::Point latlon;
+     532        2144 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        2144 :     latlon.z = what.z;
+     534        2144 :     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        2143 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        2143 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        2143 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        2143 :     geometry_msgs::Pose ret;
+     557        2143 :     ret.position = opt.value();
+     558        2143 :     ret.orientation = what.orientation;
+     559        2143 :     return ret;
+     560             :   }
+     561             : 
+     562        2143 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        2143 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        2143 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        4286 :     geometry_msgs::PoseStamped ret;
+     569        2143 :     ret.header.frame_id = prefix + "utm_origin";
+     570        2143 :     ret.header.stamp = what.header.stamp;
+     571        2143 :     ret.pose = opt.value();
+     572        2143 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        4297 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        4297 :     const auto firstof = frame_id.find_first_of('/');
+     580        4297 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        4297 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
+
+
+ + + + +
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)579073
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()579085
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)579073
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()579085
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/utils.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6      579073 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      579073 :   : variable(in)
+       8             : {
+       9      579073 :   variable = true;
+      10      579079 : }
+      11             : 
+      12     1158167 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      579085 :   variable = false;
+      15      579082 : }
+      16             : 
+      17             : }  // namespace mrs_lib
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()2
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()19
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()31
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()31
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)49
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)63
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()73
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)597
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3121
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9365
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9365
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9365
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9515
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9515
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9515
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)18153
mrs_uav_autostart::automatic_start::Topic::getTime()37531
mrs_uav_autostart::automatic_start::Topic::updateTime()47063
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&) const47064
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)47072
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)117101
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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:29333587.5 %
Date:2024-10-08 22:31:24Functions:2222100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()31
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9365
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)49
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)47072
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9515
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9365
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9365
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)117101
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9515
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9515
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)597
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3121
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()2
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()31
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()19
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)18153
mrs_uav_autostart::automatic_start::Topic::updateTime()47063
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()73
mrs_uav_autostart::automatic_start::Topic::getTime()37531
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)63
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&) const47064
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29333587.5 %
Date:2024-10-08 22:31:24Functions:2222100.0 %
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 <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/HwApiCapabilities.h>
+      22             : #include <mrs_msgs/EstimationDiagnostics.h>
+      23             : 
+      24             : #include <sensor_msgs/Range.h>
+      25             : #include <sensor_msgs/Imu.h>
+      26             : 
+      27             : #include <topic_tools/shape_shifter.h>
+      28             : 
+      29             : //}
+      30             : 
+      31             : namespace mrs_uav_autostart
+      32             : {
+      33             : 
+      34             : namespace automatic_start
+      35             : {
+      36             : 
+      37             : /* class Topic //{ */
+      38             : 
+      39             : class Topic {
+      40             : private:
+      41             :   std::string topic_name_;
+      42             :   ros::Time   last_time_;
+      43             : 
+      44             : public:
+      45          63 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      46          63 :     last_time_ = ros::Time::UNINITIALIZED;
+      47          63 :   }
+      48             : 
+      49       47063 :   void updateTime(void) {
+      50       47063 :     last_time_ = ros::Time::now();
+      51       47075 :   }
+      52             : 
+      53       37531 :   ros::Time getTime(void) {
+      54       37531 :     return last_time_;
+      55             :   }
+      56             : 
+      57          73 :   std::string getTopicName(void) {
+      58          73 :     return topic_name_;
+      59             :   }
+      60             : };
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* class AutomaticStart //{ */
+      65             : 
+      66             : // state machine
+      67             : typedef enum
+      68             : {
+      69             :   STATE_IDLE,
+      70             :   STATE_TAKEOFF,
+      71             :   STATE_FINISHED
+      72             : } LandingStates_t;
+      73             : 
+      74             : const char* state_names[3] = {"IDLING", "TAKEOFF", "FINISHED"};
+      75             : 
+      76             : class AutomaticStart : public nodelet::Nodelet {
+      77             : 
+      78             : public:
+      79             :   virtual void onInit();
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle   nh_;
+      83             :   std::atomic<bool> is_initialized_ = false;
+      84             : 
+      85             :   std::string _uav_name_;
+      86             :   bool        _simulation_;
+      87             : 
+      88             :   // | --------------------- service clients -------------------- |
+      89             : 
+      90             :   ros::ServiceClient service_client_toggle_control_output_;
+      91             :   ros::ServiceClient service_client_arm_;
+      92             :   ros::ServiceClient service_client_takeoff_;
+      93             :   ros::ServiceClient service_client_validate_reference_;
+      94             : 
+      95             :   // | ----------------------- subscribers ---------------------- |
+      96             : 
+      97             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>               sh_hw_api_status_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>         sh_hw_api_capabilities_;
+     100             :   mrs_lib::SubscribeHandler<sensor_msgs::Range>                  sh_distance_sensor_;
+     101             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu>                    sh_imu_;
+     102             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     103             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>     sh_uav_manager_diag_;
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>  sh_gazebo_spawner_diag_;
+     105             : 
+     106             :   // | ----------------------- publishers ----------------------- |
+     107             : 
+     108             :   mrs_lib::PublisherHandler<std_msgs::Bool> ph_can_takeoff_;
+     109             : 
+     110             :   // | ----------------------- main timer ----------------------- |
+     111             : 
+     112             :   ros::Timer timer_main_;
+     113             :   void       timerMain(const ros::TimerEvent& event);
+     114             :   double     _main_timer_rate_;
+     115             : 
+     116             :   // | ------------------------- hw api ------------------------- |
+     117             : 
+     118             :   void              callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     119             :   std::atomic<bool> hw_api_connected_ = false;
+     120             :   std::mutex        mutex_hw_api_status_;
+     121             : 
+     122             :   void callbackHwApiCapabilities(const mrs_msgs::HwApiCapabilities::ConstPtr msg);
+     123             : 
+     124             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     125             : 
+     126             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     127             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     128             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     129             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     130             : 
+     131             :   // | ----------------- arm and offboard check ----------------- |
+     132             : 
+     133             :   ros::Time armed_time_;
+     134             :   bool      armed_ = false;
+     135             : 
+     136             :   ros::Time offboard_time_;
+     137             :   bool      offboard_ = false;
+     138             : 
+     139             :   bool we_toggled_output_ = false;
+     140             : 
+     141             :   // | ------------------------ routines ------------------------ |
+     142             : 
+     143             :   bool takeoff();
+     144             : 
+     145             :   bool validateReference();
+     146             : 
+     147             :   bool toggleControlOutput(const bool& value);
+     148             :   bool disarm();
+     149             : 
+     150             :   bool isGazeboSimulation(void);
+     151             :   bool topicCheck(void);
+     152             :   bool preflightCheckSpeed(void);
+     153             :   bool preflighCheckHeight(void);
+     154             :   bool preflighCheckGyro(void);
+     155             : 
+     156             :   bool is_gazebo_simulation_ = false;
+     157             : 
+     158             :   // | ---------------------- other params ---------------------- |
+     159             : 
+     160             :   std::string _body_frame_name_;
+     161             :   double      _pre_takeoff_sleep_;
+     162             :   bool        _handle_takeoff_ = false;
+     163             :   double      _safety_timeout_;
+     164             :   double      _control_output_timeout_;
+     165             : 
+     166             :   // | ---------------------- state machine --------------------- |
+     167             : 
+     168             :   uint current_state = STATE_IDLE;
+     169             :   void changeState(LandingStates_t new_state);
+     170             : 
+     171             :   // | --------------------- preflight check -------------------- |
+     172             : 
+     173             :   double _preflight_check_time_window_;
+     174             : 
+     175             :   // | ------------------ preflight speed check ----------------- |
+     176             : 
+     177             :   bool      _speed_check_enabled_ = false;
+     178             :   double    _speed_check_max_speed_;
+     179             :   ros::Time speed_check_violated_time_;
+     180             : 
+     181             :   // | ----------------- preflight height check ----------------- |
+     182             : 
+     183             :   bool      _height_check_enabled_ = false;
+     184             :   double    _height_check_max_height_;
+     185             :   ros::Time height_check_violated_time_;
+     186             : 
+     187             :   // | ----------------- preflight gyro check ----------------- |
+     188             : 
+     189             :   bool      _gyro_check_enabled_ = false;
+     190             :   double    _gyro_check_max_rate_;
+     191             :   ros::Time gyro_check_violated_time_;
+     192             : 
+     193             :   // | ---------------- generic topic subscribers --------------- |
+     194             : 
+     195             :   bool                     _topic_check_enabled_ = false;
+     196             :   double                   _topic_check_timeout_;
+     197             :   std::vector<std::string> _topic_check_topic_names_;
+     198             : 
+     199             :   std::vector<Topic>           topic_check_topics_;
+     200             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     201             : 
+     202             :   // generic callback, for any topic, to monitor its rate
+     203             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     204             : };
+     205             : 
+     206             : //}
+     207             : 
+     208             : /* onInit() //{ */
+     209             : 
+     210          31 : void AutomaticStart::onInit() {
+     211             : 
+     212          31 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     213             : 
+     214          31 :   ros::Time::waitForValid();
+     215             : 
+     216          31 :   armed_      = false;
+     217          31 :   armed_time_ = ros::Time(0);
+     218             : 
+     219          31 :   offboard_      = false;
+     220          31 :   offboard_time_ = ros::Time(0);
+     221             : 
+     222          62 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     223             : 
+     224          62 :   std::string custom_config_path;
+     225             : 
+     226          31 :   param_loader.loadParam("custom_config", custom_config_path);
+     227             : 
+     228          31 :   if (custom_config_path != "") {
+     229           5 :     param_loader.addYamlFile(custom_config_path);
+     230             :   }
+     231             : 
+     232          31 :   param_loader.addYamlFileFromParam("config_private");
+     233          31 :   param_loader.addYamlFileFromParam("config_public");
+     234             : 
+     235          31 :   param_loader.loadParam("uav_name", _uav_name_);
+     236          31 :   param_loader.loadParam("simulation", _simulation_);
+     237             : 
+     238          31 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     239          31 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     240          31 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     241             : 
+     242          31 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     243          31 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     244             : 
+     245          31 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     246             : 
+     247          31 :   param_loader.loadParam("preflight_check/time_window", _preflight_check_time_window_);
+     248             : 
+     249          31 :   param_loader.loadParam("preflight_check/speed_check/enabled", _speed_check_enabled_);
+     250          31 :   param_loader.loadParam("preflight_check/speed_check/max_speed", _speed_check_max_speed_);
+     251             : 
+     252          31 :   param_loader.loadParam("preflight_check/height_check/enabled", _height_check_enabled_);
+     253          31 :   param_loader.loadParam("preflight_check/height_check/max_height", _height_check_max_height_);
+     254             : 
+     255          31 :   param_loader.loadParam("preflight_check/gyro_check/enabled", _gyro_check_enabled_);
+     256          31 :   param_loader.loadParam("preflight_check/gyro_check/max_rate", _gyro_check_max_rate_);
+     257             : 
+     258          31 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     259          31 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     260          31 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     261             : 
+     262          31 :   if (!param_loader.loadedSuccessfully()) {
+     263           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     264           0 :     ros::shutdown();
+     265             :   }
+     266             : 
+     267             :   // | ----------------------- subscribers ---------------------- |
+     268             : 
+     269          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     270          31 :   shopts.nh                 = nh_;
+     271          31 :   shopts.node_name          = "AutomaticStart";
+     272          31 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     273          31 :   shopts.threadsafe         = true;
+     274          31 :   shopts.autostart          = true;
+     275          31 :   shopts.queue_size         = 10;
+     276          31 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     277             : 
+     278          31 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     279          31 :   sh_hw_api_status_   = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     280             :   sh_hw_api_capabilities_ =
+     281          31 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in", &AutomaticStart::callbackHwApiCapabilities, this);
+     282          31 :   sh_distance_sensor_      = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, "distance_sensor_in");
+     283          31 :   sh_imu_                  = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, "imu_in");
+     284          31 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     285          31 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     286          62 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     287          31 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     288             : 
+     289             :   // | ----------------------- publishers ----------------------- |
+     290             : 
+     291          31 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     292             : 
+     293             :   // | --------------------- service clients -------------------- |
+     294             : 
+     295          31 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     296          31 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     297          31 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     298             : 
+     299          31 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     300             : 
+     301             :   // | ------------------ setup generic topics ------------------ |
+     302             : 
+     303          31 :   if (_topic_check_enabled_) {
+     304             : 
+     305          62 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     306             : 
+     307          94 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     308             : 
+     309         126 :       std::string topic_name = _topic_check_topic_names_.at(i);
+     310             : 
+     311          63 :       if (topic_name.at(0) != '/') {
+     312          63 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     313             :       }
+     314             : 
+     315         126 :       Topic tmp_topic(topic_name);
+     316          63 :       topic_check_topics_.push_back(tmp_topic);
+     317             : 
+     318          63 :       int id = i;  // id to identify which topic called the generic callback
+     319             : 
+     320       47127 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     321         189 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     322             : 
+     323          63 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     324             :     }
+     325             :   }
+     326             : 
+     327             :   // | ------------------------- timers ------------------------- |
+     328             : 
+     329          31 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     330             : 
+     331             :   // | --------------------- finish the init -------------------- |
+     332             : 
+     333          31 :   is_initialized_ = true;
+     334             : 
+     335          31 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     336          31 : }
+     337             : 
+     338             : //}
+     339             : 
+     340             : // --------------------------------------------------------------
+     341             : // |                          callbacks                         |
+     342             : // --------------------------------------------------------------
+     343             : 
+     344             : /* genericCallback() //{ */
+     345             : 
+     346       47072 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     347             :                                      const int id) {
+     348       47072 :   topic_check_topics_.at(id).updateTime();
+     349       47075 : }
+     350             : 
+     351             : //}
+     352             : 
+     353             : /* callbackHwApiStatus() //{ */
+     354             : 
+     355      117101 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     356             : 
+     357      117101 :   if (!is_initialized_) {
+     358           0 :     return;
+     359             :   }
+     360             : 
+     361      117101 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API status");
+     362             : 
+     363      234202 :   std::scoped_lock lock(mutex_hw_api_status_);
+     364             : 
+     365             :   // check armed_ state
+     366      117101 :   if (armed_ == false) {
+     367             : 
+     368             :     // if armed_ state changed to true, please "start the clock"
+     369       67138 :     if (msg->armed) {
+     370             : 
+     371          30 :       armed_      = true;
+     372          30 :       armed_time_ = ros::Time::now();
+     373             :     }
+     374             : 
+     375             :     // if we were armed_ previously
+     376       49963 :   } else if (armed_ == true) {
+     377             : 
+     378             :     // and we are not really now
+     379       49963 :     if (!msg->armed) {
+     380             : 
+     381           2 :       armed_ = false;
+     382             :     }
+     383             :   }
+     384             : 
+     385             :   // check offboard_ state
+     386      117101 :   if (offboard_ == false) {
+     387             : 
+     388             :     // if offboard_ state changed to true, please "start the clock"
+     389       77596 :     if (msg->offboard) {
+     390             : 
+     391          22 :       offboard_      = true;
+     392          22 :       offboard_time_ = ros::Time::now();
+     393             :     }
+     394             : 
+     395             :     // if we were in offboard_ previously
+     396       39505 :   } else if (offboard_ == true) {
+     397             : 
+     398             :     // and we are not really now
+     399       39505 :     if (!msg->offboard) {
+     400             : 
+     401           0 :       offboard_ = false;
+     402             :     }
+     403             :   }
+     404             : 
+     405      117101 :   if (msg->connected) {
+     406      113790 :     hw_api_connected_ = true;
+     407             :   }
+     408             : }
+     409             : 
+     410             : //}
+     411             : 
+     412             : /* callbackHwApiCapabilities() //{ */
+     413             : 
+     414         597 : void AutomaticStart::callbackHwApiCapabilities([[maybe_unused]] const mrs_msgs::HwApiCapabilities::ConstPtr msg) {
+     415             : 
+     416         597 :   if (!is_initialized_) {
+     417           0 :     return;
+     418             :   }
+     419             : 
+     420         597 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API capabilities");
+     421             : }
+     422             : 
+     423             : //}
+     424             : 
+     425             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     426             : 
+     427        3121 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     428             : 
+     429        3121 :   if (!is_initialized_) {
+     430           0 :     return;
+     431             :   }
+     432             : 
+     433        3121 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     434             : 
+     435             :   {
+     436        6242 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     437             : 
+     438        3121 :     gazebo_spawner_diagnostics_ = *msg;
+     439             : 
+     440        3121 :     got_gazebo_spawner_diagnostics = true;
+     441             :   }
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : // --------------------------------------------------------------
+     447             : // |                           timers                           |
+     448             : // --------------------------------------------------------------
+     449             : 
+     450             : /* timerMain() //{ */
+     451             : 
+     452       18153 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     453             : 
+     454       18153 :   if (!is_initialized_) {
+     455        5881 :     return;
+     456             :   }
+     457             : 
+     458       18153 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     459       18153 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     460       18153 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     461       18153 :   bool got_hw_api               = sh_hw_api_status_.hasMsg() && sh_hw_api_capabilities_.hasMsg() && hw_api_connected_;
+     462             : 
+     463       18153 :   if (!got_control_manager_diag || !got_hw_api || !got_uav_manager_diag || !got_estimation_diag) {
+     464        5731 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControlManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     465             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api ? "true" : "FALSE",
+     466             :                       got_estimation_diag ? "true" : "FALSE");
+     467        5731 :     return;
+     468             :   }
+     469             : 
+     470       12422 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     471       12422 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     472             : 
+     473       12422 :   switch (current_state) {
+     474             : 
+     475        9515 :     case STATE_IDLE: {
+     476             : 
+     477             :       // | --------------------- preflight check -------------------- |
+     478             : 
+     479        9515 :       bool speed_valid  = preflightCheckSpeed();
+     480        9515 :       bool height_valid = preflighCheckHeight();
+     481        9515 :       bool gyros_valid  = preflighCheckGyro();
+     482             : 
+     483        9515 :       bool possibly_in_the_air = !speed_valid || !height_valid || !gyros_valid;
+     484             : 
+     485        9515 :       if (possibly_in_the_air) {
+     486             : 
+     487         150 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: preflight check failed, the UAV is possibly in the air");
+     488             : 
+     489         150 :         if (armed) {
+     490             : 
+     491           6 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: -- the UAV is also armed!! finishing to prevent unwanted system activation");
+     492             : 
+     493           6 :           if (we_toggled_output_) {
+     494             : 
+     495           1 :             bool res = toggleControlOutput(false);
+     496             : 
+     497           1 :             if (!res) {
+     498           0 :               ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output OFF");
+     499             :             }
+     500             :           }
+     501             : 
+     502           6 :           changeState(STATE_FINISHED);
+     503             : 
+     504         150 :           return;
+     505             :         }
+     506             : 
+     507         144 :         return;
+     508             :       }
+     509             : 
+     510             :       // | -------------------- ready to takeoff -------------------- |
+     511             : 
+     512        9365 :       bool control_output_enabled = sh_control_manager_diag_.getMsg()->output_enabled;
+     513             : 
+     514        9365 :       std_msgs::Bool can_takeoff_msg;
+     515        9365 :       can_takeoff_msg.data = false;
+     516             : 
+     517             :       // | -------------------- preflight checks -------------------- |
+     518             : 
+     519        9365 :       bool position_valid = validateReference();
+     520        9365 :       bool got_topics     = topicCheck();
+     521             : 
+     522        9365 :       bool can_takeoff = got_topics && position_valid;
+     523             : 
+     524             :       // | ---------------------------------------------------------- |
+     525             : 
+     526        9365 :       can_takeoff_msg.data = can_takeoff;
+     527        9365 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     528             : 
+     529        9365 :       if (armed && !control_output_enabled) {
+     530             : 
+     531         115 :         if (can_takeoff) {
+     532             : 
+     533          23 :           bool res = toggleControlOutput(true);
+     534             : 
+     535          23 :           if (!res) {
+     536           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     537             :           } else {
+     538          23 :             we_toggled_output_ = true;
+     539             :           }
+     540             :         }
+     541             : 
+     542         115 :         double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     543             : 
+     544         115 :         if (armed_time != ros::Time::UNINITIALIZED && time_from_arming > _control_output_timeout_) {
+     545             : 
+     546           2 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     547           2 :           disarm();
+     548           2 :           changeState(STATE_FINISHED);
+     549             :         }
+     550             :       }
+     551             : 
+     552        9365 :       if (_simulation_ && isGazeboSimulation()) {
+     553             : 
+     554        6055 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     555             : 
+     556        6055 :         if (got_gazebo_spawner_diagnostics) {
+     557             : 
+     558        6055 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     559           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     560           0 :             return;
+     561             :           }
+     562             : 
+     563             :         } else {
+     564             : 
+     565           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     566           0 :           return;
+     567             :         }
+     568             :       }
+     569             : 
+     570             :       // when armed and in offboard, takeoff
+     571        9365 :       if (armed && offboard && control_output_enabled) {
+     572             : 
+     573        2875 :         if (!_handle_takeoff_) {
+     574           3 :           changeState(STATE_FINISHED);
+     575             :         } else {
+     576             : 
+     577        2872 :           ros::Duration armed_time_diff    = ros::Time::now() - armed_time;
+     578        2872 :           ros::Duration offboard_time_diff = ros::Time::now() - offboard_time;
+     579             : 
+     580        2872 :           if (armed_time_diff > ros::Duration(_safety_timeout_) && offboard_time_diff > ros::Duration(_safety_timeout_)) {
+     581             : 
+     582          19 :             changeState(STATE_TAKEOFF);
+     583             : 
+     584             :           } else {
+     585             : 
+     586        2853 :             double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff.toSec() : offboard_time_diff.toSec();
+     587             : 
+     588        2853 :             ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     589             :           }
+     590             :         }
+     591             :       }
+     592             : 
+     593        9365 :       break;
+     594             :     }
+     595             : 
+     596        2877 :     case STATE_TAKEOFF: {
+     597             : 
+     598             :       // if takeoff finished
+     599        2877 :       if (control_manager_diagnostics->flying_normally) {
+     600             : 
+     601          19 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     602             : 
+     603          19 :         changeState(STATE_FINISHED);
+     604             : 
+     605             :       } else {
+     606             : 
+     607        2858 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     608             :       }
+     609             : 
+     610        2877 :       break;
+     611             :     }
+     612             : 
+     613          30 :     case STATE_FINISHED: {
+     614             : 
+     615          30 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     616          30 :       ros::requestShutdown();
+     617          30 :       break;
+     618             :     }
+     619             :   }
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* changeState() //{ */
+     629             : 
+     630          49 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     631             : 
+     632          49 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     633             : 
+     634          49 :   switch (new_state) {
+     635             : 
+     636           0 :     case STATE_IDLE: {
+     637             : 
+     638           0 :       break;
+     639             :     }
+     640             : 
+     641          19 :     case STATE_TAKEOFF: {
+     642             : 
+     643          19 :       if (_pre_takeoff_sleep_ > 1.0) {
+     644           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     645           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     646             :       }
+     647             : 
+     648          19 :       bool res = takeoff();
+     649             : 
+     650          19 :       if (!res) {
+     651             : 
+     652           0 :         current_state = STATE_FINISHED;
+     653             : 
+     654           0 :         return;
+     655             :       }
+     656             : 
+     657          19 :       break;
+     658             :     }
+     659             : 
+     660          30 :     case STATE_FINISHED: {
+     661             : 
+     662          30 :       break;
+     663             :     }
+     664             : 
+     665             :     break;
+     666             :   }
+     667             : 
+     668          49 :   current_state = new_state;
+     669             : }
+     670             : 
+     671             : //}
+     672             : 
+     673             : /* takeoff() //{ */
+     674             : 
+     675          19 : bool AutomaticStart::takeoff() {
+     676             : 
+     677          19 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     678             : 
+     679          38 :   std_srvs::Trigger srv;
+     680             : 
+     681          19 :   bool res = service_client_takeoff_.call(srv);
+     682             : 
+     683          19 :   if (res) {
+     684             : 
+     685          19 :     if (srv.response.success) {
+     686             : 
+     687          19 :       return true;
+     688             : 
+     689             :     } else {
+     690             : 
+     691           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     692             :     }
+     693             : 
+     694             :   } else {
+     695             : 
+     696           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     697             :   }
+     698             : 
+     699           0 :   return false;
+     700             : }
+     701             : 
+     702             : //}
+     703             : 
+     704             : /* validateReference() //{ */
+     705             : 
+     706        9365 : bool AutomaticStart::validateReference() {
+     707             : 
+     708       18730 :   mrs_msgs::ValidateReference srv_out;
+     709             : 
+     710        9365 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     711             : 
+     712        9365 :   bool res = service_client_validate_reference_.call(srv_out);
+     713             : 
+     714        9365 :   if (res) {
+     715             : 
+     716        9364 :     if (srv_out.response.success) {
+     717             : 
+     718        9290 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     719        9290 :       return true;
+     720             : 
+     721             :     } else {
+     722             : 
+     723          74 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     724          74 :       return false;
+     725             :     }
+     726             : 
+     727             :   } else {
+     728             : 
+     729           1 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     730           1 :     return false;
+     731             :   }
+     732             : }
+     733             : 
+     734             : //}
+     735             : 
+     736             : /* toggleControlOutput() //{ */
+     737             : 
+     738          24 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     739             : 
+     740          24 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     741             : 
+     742          48 :   std_srvs::SetBool srv;
+     743          24 :   srv.request.data = value;
+     744             : 
+     745          24 :   bool res = service_client_toggle_control_output_.call(srv);
+     746             : 
+     747          24 :   if (res) {
+     748             : 
+     749          24 :     if (srv.response.success) {
+     750             : 
+     751          24 :       return true;
+     752             : 
+     753             :     } else {
+     754             : 
+     755           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     756             :     }
+     757             : 
+     758             :   } else {
+     759             : 
+     760           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     761             :   }
+     762             : 
+     763           0 :   return false;
+     764             : }
+     765             : 
+     766             : //}
+     767             : 
+     768             : /* disarm() //{ */
+     769             : 
+     770           2 : bool AutomaticStart::disarm() {
+     771             : 
+     772           2 :   if (!hw_api_connected_) {
+     773             : 
+     774           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     775             : 
+     776           0 :     return false;
+     777             :   }
+     778             : 
+     779           2 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     780             : 
+     781           2 :   if (offboard) {
+     782             : 
+     783           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     784             : 
+     785           0 :     return false;
+     786             :   }
+     787             : 
+     788           2 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     789             : 
+     790           4 :   std_srvs::SetBool srv;
+     791           2 :   srv.request.data = false;
+     792             : 
+     793           2 :   bool res = service_client_arm_.call(srv);
+     794             : 
+     795           2 :   if (res) {
+     796             : 
+     797           2 :     if (srv.response.success) {
+     798             : 
+     799           2 :       return true;
+     800             : 
+     801             :     } else {
+     802             : 
+     803           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     804             :     }
+     805             : 
+     806             :   } else {
+     807             : 
+     808           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     809             :   }
+     810             : 
+     811           0 :   return false;
+     812             : }
+     813             : 
+     814             : //}
+     815             : 
+     816             : /* isGazeboSimulation() //{ */
+     817             : 
+     818        9365 : bool AutomaticStart::isGazeboSimulation(void) {
+     819             : 
+     820        9365 :   if (is_gazebo_simulation_) {
+     821        6046 :     return true;
+     822             :   }
+     823             : 
+     824        6638 :   ros::V_string node_list;
+     825        3319 :   ros::master::getNodes(node_list);
+     826             : 
+     827       49657 :   for (auto& node : node_list) {
+     828       46347 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     829           9 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     830           9 :       is_gazebo_simulation_ = true;
+     831           9 :       return true;
+     832             :     }
+     833             :   }
+     834             : 
+     835        3310 :   return false;
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* topicCheck() //{ */
+     841             : 
+     842        9365 : bool AutomaticStart::topicCheck(void) {
+     843             : 
+     844        9365 :   bool got_topics = true;
+     845             : 
+     846        9365 :   std::stringstream missing_topics;
+     847             : 
+     848        9365 :   if (_topic_check_enabled_) {
+     849             : 
+     850       28167 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     851             : 
+     852       37531 :       if (topic_check_topics_.at(i).getTime() == ros::Time::UNINITIALIZED ||
+     853       37531 :           (ros::Time::now() - topic_check_topics_.at(i).getTime()) > ros::Duration(_topic_check_timeout_)) {
+     854             : 
+     855          73 :         missing_topics << std::endl << "\t" << topic_check_topics_.at(i).getTopicName();
+     856          73 :         got_topics = false;
+     857             :       }
+     858             :     }
+     859             :   }
+     860             : 
+     861        9365 :   if (!got_topics) {
+     862          73 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     863             :   }
+     864             : 
+     865       18730 :   return got_topics;
+     866             : }
+     867             : 
+     868             : //}
+     869             : 
+     870             : // | -------- preflight cheks for detecting flyign UAV -------- |
+     871             : 
+     872             : /* preflightCheckSpeed() //{ */
+     873             : 
+     874        9515 : bool AutomaticStart::preflightCheckSpeed(void) {
+     875             : 
+     876        9515 :   if (!_speed_check_enabled_) {
+     877           0 :     return true;
+     878             :   }
+     879             : 
+     880        9515 :   if (!sh_estimation_diag_.hasMsg()) {
+     881           0 :     return false;
+     882             :   }
+     883             : 
+     884       19030 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     885             : 
+     886        9515 :   double speed = std::hypot(estimation_diag->velocity.linear.x, estimation_diag->velocity.linear.y, estimation_diag->velocity.linear.z);
+     887             : 
+     888        9515 :   if (speed > _speed_check_max_speed_) {
+     889           0 :     speed_check_violated_time_ = ros::Time::now();
+     890           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _speed_check_max_speed_);
+     891             :   }
+     892             : 
+     893        9515 :   if (speed_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     894        9515 :       (ros::Time::now() - speed_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     895           0 :     return false;
+     896             :   } else {
+     897        9515 :     return true;
+     898             :   }
+     899             : }
+     900             : 
+     901             : //}
+     902             : 
+     903             : /* preflighCheckHeight() //{ */
+     904             : 
+     905        9515 : bool AutomaticStart::preflighCheckHeight(void) {
+     906             : 
+     907        9515 :   if (!_height_check_enabled_) {
+     908         241 :     return true;
+     909             :   }
+     910             : 
+     911             :   // | ----------------- is the check possible? ----------------- |
+     912             : 
+     913        9274 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     914           0 :     return false;
+     915             :   }
+     916             : 
+     917       18548 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     918             : 
+     919        9274 :   if (!capabilities->produces_distance_sensor) {
+     920           0 :     return true;
+     921             :   }
+     922             : 
+     923             :   // | -------------------- do we have data? -------------------- |
+     924             : 
+     925        9274 :   if (!sh_distance_sensor_.hasMsg()) {
+     926         669 :     return true;
+     927             :   }
+     928             : 
+     929        8605 :   double height = sh_distance_sensor_.getMsg()->range;
+     930             : 
+     931        8605 :   if (height > _height_check_max_height_) {
+     932         149 :     height_check_violated_time_ = ros::Time::now();
+     933         149 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the height (%.2f m) is over the limit (%.2f m)", height, _height_check_max_height_);
+     934             :   }
+     935             : 
+     936        8754 :   if (height_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     937        8754 :       (ros::Time::now() - height_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     938         149 :     return false;
+     939             :   } else {
+     940        8456 :     return true;
+     941             :   }
+     942             : }
+     943             : 
+     944             : //}
+     945             : 
+     946             : /* preflighCheckGyro() //{ */
+     947             : 
+     948        9515 : bool AutomaticStart::preflighCheckGyro(void) {
+     949             : 
+     950        9515 :   if (!_gyro_check_enabled_) {
+     951           0 :     return true;
+     952             :   }
+     953             : 
+     954             :   // | ----------------- is the check possible? ----------------- |
+     955             : 
+     956        9515 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     957           0 :     return false;
+     958             :   }
+     959             : 
+     960       19030 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     961             : 
+     962        9515 :   if (!capabilities->produces_imu) {
+     963           0 :     return true;
+     964             :   }
+     965             : 
+     966             :   // | -------------------- do we have data? -------------------- |
+     967             : 
+     968        9515 :   if (!sh_imu_.hasMsg()) {
+     969           0 :     return true;
+     970             :   }
+     971             : 
+     972        9515 :   auto gyros = sh_imu_.getMsg()->angular_velocity;
+     973             : 
+     974        9515 :   if (abs(gyros.x) > _gyro_check_max_rate_ || abs(gyros.y) > _gyro_check_max_rate_ || abs(gyros.z) > _gyro_check_max_rate_) {
+     975           1 :     gyro_check_violated_time_ = ros::Time::now();
+     976           1 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the angular velocity ([%.2f, %.2f, %.2f] rad/s) is over the limit (%.2f rad/s)", gyros.x, gyros.y, gyros.z,
+     977             :                       _gyro_check_max_rate_);
+     978             :   }
+     979             : 
+     980        9515 :   if (gyro_check_violated_time_ != ros::Time::UNINITIALIZED && (ros::Time::now() - gyro_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     981           1 :     return false;
+     982             :   } else {
+     983        9514 :     return true;
+     984             :   }
+     985             : }
+     986             : 
+     987             : //}
+     988             : 
+     989             : }  // namespace automatic_start
+     990             : 
+     991             : }  // namespace mrs_uav_autostart
+     992             : 
+     993             : #include <pluginlib/class_list_macros.h>
+     994          31 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
+
+
+ + + + +
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+
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)39
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)52
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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&)52
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&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)39
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&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
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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          52 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          52 :     return msg.throttle;
+      78             :   }
+      79          39 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          39 :     return msg.throttle;
+      81             :   }
+      82           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      83           2 :     return std::nullopt;
+      84             :   }
+      85           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      86           2 :     return std::nullopt;
+      87             :   }
+      88          10 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89          10 :     return std::nullopt;
+      90             :   }
+      91           4 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           4 :     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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+
          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        1296 : PIDController::PIDController() {
+      43             : 
+      44        1296 :   this->reset();
+      45        1296 : }
+      46             : 
+      47        1296 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49        1296 :   this->_kp_       = kp;
+      50        1296 :   this->_kd_       = kd;
+      51        1296 :   this->_ki_       = ki;
+      52        1296 :   this->saturation = saturation;
+      53        1296 :   this->antiwindup = antiwindup;
+      54        1296 : }
+      55             : 
+      56       15280 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58       15280 :   this->saturation = saturation;
+      59       15280 : }
+      60             : 
+      61        1296 : void PIDController::reset(void) {
+      62             : 
+      63        1296 :   this->last_error_ = 0;
+      64        1296 :   this->integral_   = 0;
+      65        1296 : }
+      66             : 
+      67       15280 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70       15280 :   double difference = (error - last_error_) / dt;
+      71       15280 :   last_error_       = error;
+      72             : 
+      73       15280 :   double p_component = _kp_ * error;       // proportional feedback
+      74       15280 :   double d_component = _kd_ * difference;  // derivative feedback
+      75       15280 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77       15280 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79       15280 :   if (saturation > 0) {
+      80       15280 :     if (sum >= saturation) {
+      81         112 :       sum = saturation;
+      82       15168 :     } else if (sum <= -saturation) {
+      83         137 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87       15280 :   if (antiwindup > 0) {
+      88       15280 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90       14935 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95       15280 :   return sum;
+      96             : }
+      97             : 
+      98             : }  // namespace mrs_uav_controllers
+      99             : 
+     100             : #endif  // PID_H
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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 %
Date:2024-10-08 22:31:24Functions:99100.0 %
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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&)255
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3968
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&)7977
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10196
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&)94071
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&)94071
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)95967
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&)95967
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100725
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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 %
Date:2024-10-08 22:31:24Functions:99100.0 %
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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&)94071
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3968
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100725
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)255
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10196
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)95967
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&)95967
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&)94071
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&)7977
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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 %
Date:2024-10-08 22:31:24Functions: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       95967 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       95967 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       95967 :     Eigen::Vector3d R_error_vec;
+      19       95967 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       95967 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       95967 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      191934 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       94071 : 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       94071 :   double theta = acos(input(2));
+      36       94071 :   double phi   = atan2(input(1), input(0));
+      37             : 
+      38             :   // check for the failsafe limit
+      39       94071 :   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       94071 :   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       94071 :   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       94071 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       94071 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       94071 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       94071 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       94071 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       94071 :   if (preserve_heading) {
+      78             : 
+      79       24231 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       24231 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       24231 :     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       48462 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       24231 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       24231 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       48462 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       24231 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       24231 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       48462 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       48462 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       24231 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       24231 :     Rd.col(0) = oblique_projector * heading;
+     105       24231 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       24231 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       24231 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       69840 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       69840 :     Rd.col(2) = body_z_normed;
+     117       69840 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       69840 :     Rd.col(1).normalize();
+     119       69840 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       69840 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      188142 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130      100725 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132      100725 :   if (outputs.actuators) {
+     133        2574 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       98151 :   if (outputs.control_group) {
+     137        2615 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       95536 :   if (outputs.attitude_rate) {
+     141       86596 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        8940 :   if (outputs.attitude) {
+     145        2286 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        6654 :   if (outputs.acceleration_hdg_rate) {
+     149        1094 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        5560 :   if (outputs.acceleration_hdg) {
+     153        1093 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        4467 :   if (outputs.velocity_hdg_rate) {
+     157        2468 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160        1999 :   if (outputs.velocity_hdg) {
+     161        1438 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         561 :   if (outputs.position) {
+     165         561 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175       10196 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177       10196 :   if (outputs.position) {
+     178           2 :     return POSITION;
+     179             :   }
+     180             : 
+     181       10194 :   if (outputs.velocity_hdg) {
+     182           7 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185       10187 :   if (outputs.velocity_hdg_rate) {
+     186          14 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189       10173 :   if (outputs.acceleration_hdg) {
+     190           6 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193       10167 :   if (outputs.acceleration_hdg_rate) {
+     194           6 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197       10161 :   if (outputs.attitude) {
+     198        5907 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4254 :   if (outputs.attitude_rate) {
+     202        1424 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2830 :   if (outputs.control_group) {
+     206        1414 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209        1416 :   if (outputs.actuators) {
+     210        1416 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         255 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         255 :   if (!control_output.control_output) {
+     223         138 :     return {};
+     224             :   }
+     225             : 
+     226         234 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       95967 : 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       95967 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       95967 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       95967 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       95967 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       95967 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       23043 :     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       23043 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       23043 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       23043 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       23043 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       23043 :       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       23043 :       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       23043 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       95967 :   if (rate_feedback(0) > rate_saturation(0)) {
+     279           0 :     rate_feedback(0) = rate_saturation(0);
+     280       95967 :   } else if (rate_feedback(0) < -rate_saturation(0)) {
+     281           0 :     rate_feedback(0) = -rate_saturation(0);
+     282             :   }
+     283             : 
+     284       95967 :   if (rate_feedback(1) > rate_saturation(1)) {
+     285           0 :     rate_feedback(1) = rate_saturation(1);
+     286       95967 :   } else if (rate_feedback(1) < -rate_saturation(1)) {
+     287           0 :     rate_feedback(1) = -rate_saturation(1);
+     288             :   }
+     289             : 
+     290       95967 :   if (rate_feedback(2) > rate_saturation(2)) {
+     291           0 :     rate_feedback(2) = rate_saturation(2);
+     292       95967 :   } 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       95967 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       95967 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       95967 :   cmd.body_rate.x = rate_feedback(0);
+     303       95967 :   cmd.body_rate.y = rate_feedback(1);
+     304       95967 :   cmd.body_rate.z = rate_feedback(2);
+     305             : 
+     306       95967 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      191934 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7977 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7977 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7977 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7977 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7977 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7977 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7977 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7977 :   cmd.roll  = ctrl_group_action(0);
+     330        7977 :   cmd.pitch = ctrl_group_action(1);
+     331        7977 :   cmd.yaw   = ctrl_group_action(2);
+     332             : 
+     333       15954 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3968 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3968 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7936 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3968 :   double min = motors.minCoeff();
+     347             : 
+     348        3968 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3968 :   double max = motors.maxCoeff();
+     353             : 
+     354        3968 :   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        3968 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3968 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       19840 :   for (int i = 0; i < motors.size(); i++) {
+     377       15872 :     actuator_msg.motors.push_back(motors(i));
+     378             :   }
+     379             : 
+     380        7936 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
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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::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()34
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()971
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9720
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)139434
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()34
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>)108
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9720
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)139434
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
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&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()971
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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         108 : 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         108 :   nh_ = nh;
+     117             : 
+     118         108 :   common_handlers_  = common_handlers;
+     119         108 :   private_handlers_ = private_handlers;
+     120             : 
+     121         108 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123         108 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131         108 :   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         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         216 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158         108 :   _descend_speed_        = std::abs(_descend_speed_);
+     159         108 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161         108 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166         108 :   shopts.nh                 = nh_;
+     167         108 :   shopts.node_name          = "FailsafeController";
+     168         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169         108 :   shopts.threadsafe         = true;
+     170         108 :   shopts.autostart          = true;
+     171         108 :   shopts.queue_size         = 10;
+     172         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174         108 :   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         108 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186         108 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188         108 :   is_initialized_ = true;
+     189             : 
+     190         108 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           7 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          14 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           7 :   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           7 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          14 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           7 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           7 :       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           7 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           7 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           7 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           0 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           7 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           7 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           7 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           7 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           7 :   first_iteration_ = true;
+     243             : 
+     244           7 :   is_active_ = true;
+     245             : 
+     246           7 :   return true;
+     247             : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* deactivate() //{ */
+     252             : 
+     253          34 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          34 :   is_active_           = false;
+     256          34 :   first_iteration_     = false;
+     257          34 :   uav_mass_difference_ = 0;
+     258             : 
+     259          34 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          34 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266      139434 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268      139434 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270      139434 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272      139434 :   first_iteration_ = false;
+     273      139434 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9720 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29160 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29160 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19440 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9720 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9720 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9720 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9720 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9713 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9720 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9720 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9720 :   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        9720 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9720 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19440 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9720 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9720 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9720 :   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        9720 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9720 :   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        9720 :   if (highest_modality.value() == common::VELOCITY_HDG) {
+     350             : 
+     351           0 :     mrs_msgs::HwApiVelocityHdgCmd vel_cmd;
+     352             : 
+     353           0 :     vel_cmd.header.stamp = ros::Time::now();
+     354             : 
+     355           0 :     vel_cmd.velocity.x = 0;
+     356           0 :     vel_cmd.velocity.y = 0;
+     357           0 :     vel_cmd.velocity.z = -_descend_speed_;
+     358           0 :     vel_cmd.heading    = heading_setpoint_;
+     359             : 
+     360           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg output");
+     361           0 :     control_output.control_output = vel_cmd;
+     362           0 :     return control_output;
+     363             :   }
+     364             : 
+     365        9720 :   if (highest_modality.value() == common::VELOCITY_HDG_RATE) {
+     366             : 
+     367           0 :     mrs_msgs::HwApiVelocityHdgRateCmd vel_cmd;
+     368             : 
+     369           0 :     vel_cmd.header.stamp = ros::Time::now();
+     370             : 
+     371           0 :     vel_cmd.velocity.x   = 0;
+     372           0 :     vel_cmd.velocity.y   = 0;
+     373           0 :     vel_cmd.velocity.z   = -_descend_speed_;
+     374           0 :     vel_cmd.heading_rate = 0.0;
+     375             : 
+     376           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg rate output");
+     377           0 :     control_output.control_output = vel_cmd;
+     378           0 :     return control_output;
+     379             :   }
+     380             : 
+     381             :   // --------------------------------------------------------------
+     382             :   // |                     acceleration output                    |
+     383             :   // --------------------------------------------------------------
+     384             : 
+     385        9720 :   if (highest_modality.value() == common::ACCELERATION_HDG) {
+     386             : 
+     387           0 :     mrs_msgs::HwApiAccelerationHdgCmd acc_cmd;
+     388             : 
+     389           0 :     acc_cmd.header.stamp = ros::Time::now();
+     390             : 
+     391           0 :     acc_cmd.acceleration.x = 0;
+     392           0 :     acc_cmd.acceleration.y = 0;
+     393           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     394           0 :     acc_cmd.heading        = heading_setpoint_;
+     395             : 
+     396           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg output");
+     397           0 :     control_output.control_output = acc_cmd;
+     398           0 :     return control_output;
+     399             :   }
+     400             : 
+     401        9720 :   if (highest_modality.value() == common::ACCELERATION_HDG_RATE) {
+     402             : 
+     403           0 :     mrs_msgs::HwApiAccelerationHdgRateCmd acc_cmd;
+     404             : 
+     405           0 :     acc_cmd.header.stamp = ros::Time::now();
+     406             : 
+     407           0 :     acc_cmd.acceleration.x = 0;
+     408           0 :     acc_cmd.acceleration.y = 0;
+     409           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     410           0 :     acc_cmd.heading_rate   = 0.0;
+     411             : 
+     412           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg rate output");
+     413           0 :     control_output.control_output = acc_cmd;
+     414           0 :     return control_output;
+     415             :   }
+     416             : 
+     417             :   // --------------------------------------------------------------
+     418             :   // |                       attitude output                      |
+     419             :   // --------------------------------------------------------------
+     420             : 
+     421        9720 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9720 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9720 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9720 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9720 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5538 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5538 :     control_output.control_output = attitude_cmd;
+     430        5538 :     return control_output;
+     431             :   }
+     432             : 
+     433             :   // --------------------------------------------------------------
+     434             :   // |                      attitude control                      |
+     435             :   // --------------------------------------------------------------
+     436             : 
+     437        4182 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+     438        4182 :   Eigen::Vector3d rate_ff(0, 0, 0);
+     439        4182 :   Eigen::Vector3d Kq(_kq_, _kq_, _kq_);
+     440             : 
+     441        4182 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, rate_ff, attitude_rate_saturation, Kq, false);
+     442             : 
+     443        4182 :   if (highest_modality.value() == common::ATTITUDE_RATE) {
+     444        1394 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude rate output");
+     445        1394 :     control_output.control_output = attitude_rate_command;
+     446        1394 :     return control_output;
+     447             :   }
+     448             : 
+     449             :   // --------------------------------------------------------------
+     450             :   // |                    attitude rate control                   |
+     451             :   // --------------------------------------------------------------
+     452             : 
+     453        2788 :   Eigen::Vector3d Kw = common_handlers_->detailed_model_params->inertia.diagonal() * _kw_;
+     454             : 
+     455        2788 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+     456             : 
+     457        2788 :   if (highest_modality.value() == common::CONTROL_GROUP) {
+     458        1394 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning control group output");
+     459        1394 :     control_output.control_output = control_group_command;
+     460        1394 :     return control_output;
+     461             :   }
+     462             : 
+     463             :   // --------------------------------------------------------------
+     464             :   // |                            mixer                           |
+     465             :   // --------------------------------------------------------------
+     466             : 
+     467        2788 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+     468             : 
+     469        1394 :   ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning actuators output");
+     470        1394 :   control_output.control_output = actuator_cmd;
+     471        1394 :   return control_output;
+     472             : }
+     473             : 
+     474             : //}
+     475             : 
+     476             : /* getStatus() //{ */
+     477             : 
+     478         971 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         971 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         971 :   controller_status.active = is_active_;
+     483             : 
+     484         971 :   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         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         428 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         428 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         428 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         856 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         428 :   res.success = true;
+     518         428 :   res.message = "constraints updated";
+     519             : 
+     520         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           7 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           7 :     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         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
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Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
80.6%80.6%
+ 		80.6 %625 / 77588.2 %15 / 17
<unnamed>80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
<unnamed>81.2 %727 / 89588.9 %16 / 18
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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Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
80.6%80.6%
+ 		80.6 %625 / 77588.2 %15 / 17
<unnamed>80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
<unnamed>81.2 %727 / 89588.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
midair_activation_controller.cpp +
88.7%88.7%
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<unnamed>88.7 %134 / 15181.8 %9 / 11
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
common.cpp +
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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failsafe_controller.cpp +
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se3_controller.cpp +
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mpc_controller.cpp +
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common.cpp +
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midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-10-08 22:31:24Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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common.cpp +
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failsafe_controller.cpp +
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midair_activation_controller.cpp +
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+ + + 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..d497bc9d65 --- /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 + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:91181.8 %
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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&)15
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()103
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()139
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)163
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)476
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)148678
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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:2024-10-08 22:31:24Functions: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()108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()103
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>)108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)476
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)148678
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)15
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&)163
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()139
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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:2024-10-08 22:31:24Functions: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         108 : 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         108 :   nh_ = nh;
+      90             : 
+      91         108 :   common_handlers_  = common_handlers;
+      92         108 :   private_handlers_ = private_handlers;
+      93             : 
+      94         108 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96         108 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104         108 :   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         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119         108 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127         108 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129         108 :   is_initialized_ = true;
+     130             : 
+     131         108 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138         163 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140         163 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142         163 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144         163 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146         163 :   is_active_ = true;
+     147             : 
+     148         163 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         326 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157         103 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159         103 :   is_active_           = false;
+     160         103 :   uav_mass_difference_ = 0;
+     161             : 
+     162         103 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163         103 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169      148678 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172      148678 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173      148678 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         476 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182        1428 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184        1428 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         476 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         476 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         952 :   ControlOutput control_output;
+     195             : 
+     196         476 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         476 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         476 :   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         476 :   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           7 :     case common::VELOCITY_HDG: {
+     228             : 
+     229          14 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           7 :       cmd.header.stamp    = ros::Time::now();
+     232           7 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           7 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           7 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           7 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           7 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           7 :       control_output.control_output = cmd;
+     241             : 
+     242           7 :       break;
+     243             :     }
+     244             : 
+     245          14 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247          28 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249          14 :       cmd.header.stamp    = ros::Time::now();
+     250          14 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252          14 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253          14 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254          14 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256          14 :       cmd.heading_rate = 0;
+     257             : 
+     258          14 :       control_output.control_output = cmd;
+     259             : 
+     260          14 :       break;
+     261             :     }
+     262             : 
+     263           6 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265          12 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           6 :       cmd.header.stamp    = ros::Time::now();
+     268           6 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           6 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           6 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           6 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           6 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           6 :       control_output.control_output = cmd;
+     277             : 
+     278           6 :       break;
+     279             :     }
+     280             : 
+     281           6 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283          12 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           6 :       cmd.header.stamp    = ros::Time::now();
+     286           6 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           6 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           6 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           6 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           6 :       cmd.heading_rate = 0;
+     293             : 
+     294           6 :       control_output.control_output = cmd;
+     295             : 
+     296           6 :       break;
+     297             :     }
+     298             : 
+     299         369 :     case common::ATTITUDE: {
+     300             : 
+     301         369 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         369 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         369 :       cmd.orientation = uav_state.pose.orientation;
+     306         369 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         369 :       control_output.control_output = cmd;
+     309             : 
+     310         369 :       break;
+     311             :     }
+     312             : 
+     313          30 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          30 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          30 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          30 :       cmd.body_rate.x = 0;
+     320          30 :       cmd.body_rate.y = 0;
+     321          30 :       cmd.body_rate.z = 0;
+     322             : 
+     323          30 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          30 :       control_output.control_output = cmd;
+     326             : 
+     327          30 :       break;
+     328             :     }
+     329             : 
+     330          20 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          20 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          20 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          20 :       cmd.roll     = 0;
+     337          20 :       cmd.pitch    = 0;
+     338          20 :       cmd.yaw      = 0;
+     339          20 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          20 :       control_output.control_output = cmd;
+     342             : 
+     343          20 :       break;
+     344             :     }
+     345             : 
+     346          22 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          44 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          22 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352         110 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353          88 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          22 :       control_output.control_output = cmd;
+     357             : 
+     358          22 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         476 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369         139 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371         139 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373         139 :   controller_status.active = is_active_;
+     374             : 
+     375         139 :   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         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406          15 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409          15 :     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         108 : 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:72789581.2 %
Date:2024-10-08 22:31:24Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::mpc_controller::MpcController::deactivate()173
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>)216
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)216
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)228
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)281
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&)785
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)856
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15108
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16330
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&)70918
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71703
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71984
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)129120
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)226324
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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..bc4a0ee547 --- /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 + + + + + + + + + + + + + + +
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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:72789581.2 %
Date:2024-10-08 22:31:24Functions:161888.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::mpc_controller::MpcController::deactivate()173
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>)216
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16330
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)216
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71984
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)856
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)226324
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71703
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&)785
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)129120
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)281
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
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&)70918
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)228
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15108
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Generated by: LCOV version 1.14
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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:72789581.2 %
Date:2024-10-08 22:31:24Functions:161888.9 %
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 <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         216 : 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         216 :   nh_ = nh;
+     260             : 
+     261         216 :   common_handlers_  = common_handlers;
+     262         216 :   private_handlers_ = private_handlers;
+     263             : 
+     264         216 :   _uav_mass_ = common_handlers_->getMass();
+     265         216 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         216 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         432 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         216 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         216 :   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         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         432 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         216 :   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         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         216 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         216 :   if (_tilt_angle_failsafe_enabled_ && std::abs(_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         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         216 :   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         216 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         216 :         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         216 :   uav_mass_difference_ = 0;
+     390         216 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         216 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         216 :   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         216 :                                                                             _dt2_, 0, 1.0);
+     397         216 :   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         216 :                                                                             _dt2_, 0, 1.0);
+     399         216 :   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         216 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         216 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         216 :   drs_params_.kibxy         = gains_.kibxy;
+     406         216 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         216 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         216 :   drs_params_.km            = gains_.km;
+     409         216 :   drs_params_.km_lim        = gains_.km_lim;
+     410         216 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         216 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         216 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         216 :   drs_->updateConfig(drs_params_);
+     415         216 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         216 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         216 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         216 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         216 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         216 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         216 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         216 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         216 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         216 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         216 :   is_initialized_ = true;
+     442             : 
+     443         216 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         228 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         228 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         228 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         228 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           7 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           7 :     activation_mass += uav_mass_difference_;
+     459           7 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462         228 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         228 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           7 :     Ib_b_(0) = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           7 :     Ib_b_(1) = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           7 :     Iw_w_(0) = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           7 :     Iw_w_(1) = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           7 :     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         228 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         228 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          83 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          83 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          83 :     if (throttle_difference > 0) {
+     488          34 :       rampup_direction_ = 1;
+     489          49 :     } else if (throttle_difference < 0) {
+     490           3 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          46 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          83 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          83 :     rampup_active_     = true;
+     498          83 :     rampup_start_time_ = ros::Time::now();
+     499          83 :     rampup_last_time_  = ros::Time::now();
+     500          83 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          83 :     rampup_duration_ = std::abs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         228 :   first_iteration_ = true;
+     506         228 :   mute_gains_      = true;
+     507             : 
+     508         228 :   timer_gains_.start();
+     509             : 
+     510         228 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         228 :   is_active_ = true;
+     513             : 
+     514         228 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         173 : void MpcController::deactivate(void) {
+     522             : 
+     523         173 :   is_active_           = false;
+     524         173 :   first_iteration_     = false;
+     525         173 :   uav_mass_difference_ = 0;
+     526             : 
+     527         173 :   timer_gains_.stop();
+     528             : 
+     529         173 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         173 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      226324 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      226324 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      226324 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      226324 :   first_iteration_ = false;
+     543      226324 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       71984 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      215952 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     552      215952 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554      143968 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       71984 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       71984 :   last_control_output_.desired_heading_rate          = {};
+     559       71984 :   last_control_output_.desired_orientation           = {};
+     560       71984 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       71984 :   last_control_output_.control_output                = {};
+     562             : 
+     563       71984 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       71984 :   if (first_iteration_) {
+     572          83 :     dt               = 0.01;
+     573          83 :     first_iteration_ = false;
+     574             :   } else {
+     575       71901 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       71984 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       71984 :   if (std::abs(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       71984 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       71984 :   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       71984 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       66183 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       66183 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5801 :   } 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        5801 :   } 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        5801 :   } 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       71984 :   switch (lowest_modality.value()) {
+     615             : 
+     616         281 :     case common::POSITION: {
+     617         281 :       positionPassthrough(uav_state, tracker_command);
+     618         281 :       break;
+     619             :     }
+     620             : 
+     621         269 :     case common::VELOCITY_HDG: {
+     622         269 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         269 :       break;
+     624             :     }
+     625             : 
+     626         516 :     case common::VELOCITY_HDG_RATE: {
+     627         516 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         516 :       break;
+     629             :     }
+     630             : 
+     631         519 :     case common::ACCELERATION_HDG: {
+     632         519 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         519 :       break;
+     634             :     }
+     635             : 
+     636         559 :     case common::ACCELERATION_HDG_RATE: {
+     637         559 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         559 :       break;
+     639             :     }
+     640             : 
+     641        1098 :     case common::ATTITUDE: {
+     642        1098 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1098 :       break;
+     644             :     }
+     645             : 
+     646       66183 :     case common::ATTITUDE_RATE: {
+     647       66183 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       66183 :       break;
+     649             :     }
+     650             : 
+     651        1283 :     case common::CONTROL_GROUP: {
+     652        1283 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1283 :       break;
+     654             :     }
+     655             : 
+     656        1276 :     case common::ACTUATORS_CMD: {
+     657        1276 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1276 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       71984 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673       15108 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675       15108 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677       15108 :   controller_status.active = is_active_;
+     678             : 
+     679       15108 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           5 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           5 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694          10 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           5 :   world_integrals.header.stamp    = ros::Time::now();
+     697           5 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           5 :   world_integrals.vector.x = Iw_w_(0);
+     700           5 :   world_integrals.vector.y = Iw_w_(1);
+     701           5 :   world_integrals.vector.z = 0;
+     702             : 
+     703          10 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           5 :   if (res) {
+     706             : 
+     707           5 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           5 :     Iw_w_(0) = res.value().vector.x;
+     710           5 :     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           5 : }
+     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         856 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         856 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         856 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         856 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750        1712 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         856 :   res.success = true;
+     752         856 :   res.message = "constraints updated";
+     753             : 
+     754         856 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       70918 : 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      141836 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       70918 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       70918 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       70918 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       70918 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       70918 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       70918 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       70918 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       70918 :   double max_jerk                    = _max_jerk_;
+     783       70918 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       70918 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       51622 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       51622 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       51622 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       51622 :     max_acceleration_vertical =
+     793       51622 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       51622 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       51622 :     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       70918 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       70918 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       70918 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       70918 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       70918 :   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       70918 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       70918 :   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       70918 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       70918 :   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       70918 :   Eigen::Vector3d Ep = Rp - Op;
+     836       70918 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840      141836 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841      141836 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842      141836 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       70918 :     double coef = 1.5;
+     850             : 
+     851       70918 :     if (std::abs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       70918 :       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             :                          std::abs(uav_state.acceleration.linear.x), coef, max_acceleration_horizontal);
+     858             :     }
+     859             : 
+     860       70918 :     if (std::abs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       70918 :       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             :                          std::abs(uav_state.velocity.linear.x), coef, max_speed_horizontal);
+     867             :     }
+     868             : 
+     869       70918 :     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       70918 :     double coef = 1.5;
+     880             : 
+     881       70918 :     if (std::abs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       70918 :       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             :                          std::abs(uav_state.acceleration.linear.y), coef, max_acceleration_horizontal);
+     888             :     }
+     889             : 
+     890       70918 :     if (std::abs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       70918 :       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             :                          std::abs(uav_state.velocity.linear.y), coef, max_speed_horizontal);
+     897             :     }
+     898             : 
+     899       70918 :     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       70918 :     double coef = 1.5;
+     910             : 
+     911       70918 :     if (std::abs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       70918 :       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             :                          std::abs(uav_state.acceleration.linear.z), coef, max_acceleration_horizontal);
+     918             :     }
+     919             : 
+     920       70918 :     if (std::abs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       70918 :       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             :                          std::abs(uav_state.velocity.linear.z), coef, max_speed_vertical);
+     927             :     }
+     928             : 
+     929       70918 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936      141836 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937      141836 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938      141836 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       70918 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       51622 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       51622 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       51622 :     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     1342172 :     for (int i = 1; i < _horizon_length_; i++) {
+     951     1290550 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).x;
+     952     1290550 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).y;
+     953     1290550 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).z;
+     954             :     }
+     955             : 
+     956     1342172 :     for (int i = 1; i < _horizon_length_; i++) {
+     957     1290550 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).x;
+     958     1290550 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).y;
+     959     1290550 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).z;
+     960             :     }
+     961             : 
+     962     1342172 :     for (int i = 1; i < _horizon_length_; i++) {
+     963     1290550 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).x;
+     964     1290550 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).y;
+     965     1290550 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      520992 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      501696 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      501696 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      501696 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979      141836 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980      141836 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982      141836 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983      141836 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       70918 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal.at(0) = 0;
+     987           0 :     temp_S_horizontal.at(0) = 0;
+     988             :   }
+     989             : 
+     990       70918 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal.at(1) = 0;
+     992           0 :     temp_S_horizontal.at(1) = 0;
+     993             :   }
+     994             : 
+     995       70918 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical.at(0) = 0;
+     997           0 :     temp_S_vertical.at(0) = 0;
+     998             :   }
+     999             : 
+    1000       70918 :   if (!tracker_command.use_velocity_vertical) {
+    1001           0 :     temp_Q_vertical.at(1) = 0;
+    1002           0 :     temp_S_vertical.at(1) = 0;
+    1003             :   }
+    1004             : 
+    1005             :   // | ------------------------ optimize ------------------------ |
+    1006             : 
+    1007       70918 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       70918 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       70918 :   mpc_solver_x_->setParams();
+    1010       70918 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       70918 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       70918 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       70918 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       70918 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       70918 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       70918 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       70918 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       70918 :   mpc_solver_y_->setParams();
+    1020       70918 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       70918 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       70918 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       70918 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       70918 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       70918 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       70918 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       70918 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       70918 :   mpc_solver_z_->setParams();
+    1030       70918 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       70918 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       70918 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       70918 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       70918 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       70918 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       70918 :   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       70918 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       70918 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       70918 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       70918 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       70918 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       70918 :     Kw(0) = gains.kw_rp;
+    1057       70918 :     Kw(1) = gains.kw_rp;
+    1058       70918 :     Kw(2) = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       70918 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069      141836 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       70918 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       70918 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       70918 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       70918 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       70918 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077      141836 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       70918 :     if (res) {
+    1080       70918 :       Ib_w(0) = res.value().vector.x;
+    1081       70918 :       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       70918 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1713 :     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       69205 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       70918 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       70918 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       70918 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       70918 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       70918 :     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      141836 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       70918 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       70918 :     double temp_gain = gains.kiwxy;
+    1125       70918 :     if (!tracker_command.disable_antiwindups) {
+    1126       61944 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       26329 :         temp_gain = 0;
+    1128       26329 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       70918 :     if (integral_terms_enabled_) {
+    1133       70918 :       if (tracker_command.use_position_horizontal) {
+    1134       70918 :         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       70918 :     bool world_integral_saturated = false;
+    1142       70918 :     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       70918 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       70918 :     } 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       70918 :     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       70918 :     world_integral_saturated = false;
+    1159       70918 :     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       70918 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       70918 :     } 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       70918 :     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      141836 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       70918 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       70918 :     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      141836 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       70918 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       70918 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       70918 :       Ep_stamped.vector.x        = Ep(0);
+    1193       70918 :       Ep_stamped.vector.y        = Ep(1);
+    1194       70918 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      212754 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       70918 :       if (res) {
+    1199       70918 :         Ep_fcu_untilted(0) = res.value().vector.x;
+    1200       70918 :         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      141836 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       70918 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       70918 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       70918 :       Ev_stamped.vector.x        = Ev(0);
+    1213       70918 :       Ev_stamped.vector.y        = Ev(1);
+    1214       70918 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      212754 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       70918 :       if (res) {
+    1219       70918 :         Ev_fcu_untilted(0) = res.value().vector.x;
+    1220       70918 :         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       70918 :     double temp_gain = gains.kibxy;
+    1230       70918 :     if (!tracker_command.disable_antiwindups) {
+    1231       61944 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       26329 :         temp_gain = 0;
+    1233       26329 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       70918 :     if (integral_terms_enabled_) {
+    1238       70918 :       if (tracker_command.use_position_horizontal) {
+    1239       70918 :         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       70918 :     bool body_integral_saturated = false;
+    1247       70918 :     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       70918 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1251           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       70918 :     } 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       70918 :     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       70918 :     body_integral_saturated = false;
+    1264       70918 :     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       70918 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1268           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       70918 :     } 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       70918 :     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       70918 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       70918 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286        1078 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288        1038 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         519 :       cmd.acceleration.x = des_acc(0);
+    1291         519 :       cmd.acceleration.y = des_acc(1);
+    1292         519 :       cmd.acceleration.z = des_acc(2);
+    1293             : 
+    1294         519 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         519 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         559 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         559 :       if (tracker_command.use_heading_rate) {
+    1303         559 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306        1118 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         559 :       cmd.acceleration.x = des_acc(0);
+    1309         559 :       cmd.acceleration.y = des_acc(1);
+    1310         559 :       cmd.acceleration.z = des_acc(2);
+    1311             : 
+    1312         559 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         559 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         559 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         559 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         559 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         559 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327        1078 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        2156 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333        1078 :       world_accel.header.stamp    = ros::Time::now();
+    1334        1078 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335        1078 :       world_accel.vector.x        = Ra(0);
+    1336        1078 :       world_accel.vector.y        = Ra(1);
+    1337        1078 :       world_accel.vector.z        = Ra(2);
+    1338             : 
+    1339        3234 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341        1078 :       if (res) {
+    1342        1078 :         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        1078 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351        1078 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353        1078 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354        1078 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355        1078 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357        1078 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359        1078 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1360        1078 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1361             : 
+    1362        1078 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1363        1078 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1364             : 
+    1365        1078 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1366        1078 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1367             : 
+    1368        1078 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370        1078 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371        1078 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373        1078 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374        1078 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376        1078 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377        1078 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379        1078 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381        1078 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391      139680 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       69840 :     double temp_gain = gains.km;
+    1395      155567 :     if (rampup_active_ ||
+    1396       85727 :         (std::abs(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       16068 :       temp_gain = 0;
+    1398       16068 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       69840 :     if (tracker_command.use_position_vertical) {
+    1402       69840 :       uav_mass_difference_ += temp_gain * Ep(2) * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       69840 :     bool uav_mass_saturated = false;
+    1407       69840 :     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       69840 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       69840 :     } 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       69840 :     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       69840 :   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       69840 :   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       69840 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       69840 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       69840 :   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       69840 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       69840 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       69840 :   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       69840 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       69840 :     if (tracker_command.use_heading) {
+    1486       69840 :       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       69840 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       69840 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       69840 :   double throttle             = 0;
+    1499             : 
+    1500       69840 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503        1048 :     if (std::abs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          76 :       rampup_active_ = false;
+    1506             : 
+    1507          76 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         972 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         972 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         972 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         972 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         972 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       68792 :     if (desired_thrust_force >= 0) {
+    1525       68792 :       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       69840 :   bool throttle_saturated = false;
+    1534             : 
+    1535       69840 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       69840 :   } else if (throttle > _throttle_saturation_) {
+    1541          29 :     throttle = _throttle_saturation_;
+    1542          29 :     ROS_WARN_THROTTLE(0.1, "[%s]: saturating throttle to %.2f", name_.c_str(), _throttle_saturation_);
+    1543       69811 :   } 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       69840 :   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       69840 :   double desired_x_accel = 0;
+    1569       69840 :   double desired_y_accel = 0;
+    1570       69840 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       69840 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       69840 :     double world_accel_x = (thrust_vector(0) / total_mass) - (Iw_w_(0) / total_mass) - (Ib_w(0) / total_mass);
+    1576       69840 :     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       69840 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581      139680 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       69840 :     world_accel.header.stamp    = ros::Time::now();
+    1584       69840 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       69840 :     world_accel.vector.x        = world_accel_x;
+    1586       69840 :     world_accel.vector.y        = world_accel_y;
+    1587       69840 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      209520 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       69840 :     if (res) {
+    1592             : 
+    1593       69840 :       desired_x_accel = res.value().vector.x;
+    1594       69840 :       desired_y_accel = res.value().vector.y;
+    1595       69840 :       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       69840 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       69840 :   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       69840 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       69840 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       69840 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       69840 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       69840 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       69840 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1618       69840 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1619             : 
+    1620       69840 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1621       69840 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1622             : 
+    1623       69840 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1624       69840 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1625             : 
+    1626       69840 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       69840 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       69840 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       69840 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       69840 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       69840 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       69840 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       69840 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       69840 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       69840 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       69840 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       69840 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       69840 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1098 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1098 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       68742 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       68742 :   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       68742 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       68740 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       68740 :       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       68740 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       68742 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       68742 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       49452 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       49452 :     Eigen::Matrix3d I;
+    1688       49452 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       49452 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       49452 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       68742 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       68742 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       68742 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       68742 :       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       68742 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       66183 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       66183 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2559 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2559 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2559 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2559 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1283 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1283 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2552 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1276 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1276 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         281 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         281 :   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         562 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         281 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         281 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         281 :   cmd.position = tracker_command.position;
+    1769         281 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         281 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         281 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         281 :   last_control_output_.desired_orientation           = {};
+    1776         281 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         281 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         281 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         281 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         281 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         281 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         281 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         281 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         281 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         281 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         281 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         281 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         281 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         281 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         281 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         281 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         281 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         281 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         281 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         785 : 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         785 :   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         785 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         785 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         785 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         785 :   double hdg_ref = tracker_command.heading;
+    1828         785 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         785 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         785 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         785 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         785 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         785 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         785 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         785 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         785 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1849         785 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1850         785 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         785 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         785 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         538 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         269 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         269 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         269 :     cmd.velocity.x = des_vel(0);
+    1866         269 :     cmd.velocity.y = des_vel(1);
+    1867         269 :     cmd.velocity.z = des_vel(2);
+    1868             : 
+    1869         269 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         269 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         516 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         516 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         516 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         516 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         516 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         516 :     if (tracker_command.use_heading_rate) {
+    1886         516 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891        1032 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         516 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         516 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         516 :     cmd.velocity.x = des_vel(0);
+    1897         516 :     cmd.velocity.y = des_vel(1);
+    1898         516 :     cmd.velocity.z = des_vel(2);
+    1899             : 
+    1900         516 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         516 :     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         785 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         785 :   last_control_output_.desired_orientation           = {};
+    1912         785 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         785 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         785 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         785 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         785 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         785 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         785 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         785 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         785 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         785 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         785 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         785 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         785 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         785 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         785 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         785 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         785 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         785 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         785 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         216 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         216 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         216 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         216 : }
+    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       16330 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       32660 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995       32660 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1996             : 
+    1997       16330 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1998       16330 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1999             : 
+    2000             :   // When muting the gains, we want to bypass the filter,
+    2001             :   // so it happens immediately.
+    2002       16330 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2003       16330 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2004             : 
+    2005       16330 :   mute_gains_ = false;
+    2006             : 
+    2007       16330 :   double dt = (event.current_real - event.last_real).toSec();
+    2008             : 
+    2009       16330 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    2010         190 :     return;
+    2011             :   }
+    2012             : 
+    2013       16140 :   bool updated = false;
+    2014             : 
+    2015       16140 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2016       16140 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2017       16140 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2018       16140 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2019       16140 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    2020             : 
+    2021             :   // do not apply muting on these gains
+    2022       16140 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2023       16140 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2024       16140 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2025             : 
+    2026       16140 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    2027             : 
+    2028             :   // set the gains back to dynamic reconfigure
+    2029             :   // and only do it when some filtering occurs
+    2030       16140 :   if (updated) {
+    2031             : 
+    2032           0 :     drs_params.kiwxy         = gains.kiwxy;
+    2033           0 :     drs_params.kibxy         = gains.kibxy;
+    2034           0 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2035           0 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2036           0 :     drs_params.km            = gains.km;
+    2037           0 :     drs_params.km_lim        = gains.km_lim;
+    2038           0 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2039           0 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2040             : 
+    2041           0 :     drs_->updateConfig(drs_params);
+    2042             : 
+    2043           0 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2044             :   }
+    2045             : }
+    2046             : 
+    2047             : //}
+    2048             : 
+    2049             : // --------------------------------------------------------------
+    2050             : // |                       other routines                       |
+    2051             : // --------------------------------------------------------------
+    2052             : 
+    2053             : /* calculateGainChange() //{ */
+    2054             : 
+    2055      129120 : double MpcController::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    2056             :                                           bool &updated) {
+    2057             : 
+    2058      129120 :   double change = desired_value - current_value;
+    2059             : 
+    2060      129120 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2061      129120 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2062             : 
+    2063      129120 :   if (!bypass_rate) {
+    2064             : 
+    2065             :     // if current value is near 0...
+    2066             :     double change_in_perc;
+    2067             :     double saturated_change;
+    2068             : 
+    2069      129120 :     if (std::abs(current_value) < 1e-6) {
+    2070           0 :       change *= gains_filter_max_change;
+    2071             :     } else {
+    2072             : 
+    2073      129120 :       saturated_change = change;
+    2074             : 
+    2075      129120 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    2076             : 
+    2077      129120 :       if (change_in_perc > gains_filter_max_change) {
+    2078           0 :         saturated_change = current_value * gains_filter_max_change;
+    2079      129120 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2080           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2081             :       }
+    2082             : 
+    2083      129120 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    2084           0 :         change *= gains_filter_min_change;
+    2085             :       } else {
+    2086      129120 :         change = saturated_change;
+    2087             :       }
+    2088             :     }
+    2089             :   }
+    2090             : 
+    2091      129120 :   if (std::abs(change) > 1e-3) {
+    2092           0 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2093           0 :     updated = true;
+    2094             :   }
+    2095             : 
+    2096      129120 :   return current_value + change;
+    2097             : }
+    2098             : 
+    2099             : //}
+    2100             : 
+    2101             : /* getHeadingSafely() //{ */
+    2102             : 
+    2103       71703 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2104             : 
+    2105             :   try {
+    2106       71703 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2107             :   }
+    2108           0 :   catch (...) {
+    2109             :   }
+    2110             : 
+    2111             :   try {
+    2112           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    2113             :   }
+    2114           0 :   catch (...) {
+    2115             :   }
+    2116             : 
+    2117           0 :   if (tracker_command.use_heading) {
+    2118           0 :     return tracker_command.heading;
+    2119             :   }
+    2120             : 
+    2121           0 :   return 0;
+    2122             : }
+    2123             : 
+    2124             : //}
+    2125             : 
+    2126             : //}
+    2127             : 
+    2128             : }  // namespace mpc_controller
+    2129             : 
+    2130             : }  // namespace mrs_uav_controllers
+    2131             : 
+    2132             : #include <pluginlib/class_list_macros.h>
+    2133         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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:62577580.6 %
Date:2024-10-08 22:31:24Functions:151788.2 %
Legend: Lines: + hit + not hit +
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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()23
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)27
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)217
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)280
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2892
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&)3121
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4662
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&)25340
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28461
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28741
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)64890
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)120413
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Generated by: LCOV version 1.14
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+ + + 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..cf358f9074 --- /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:62577580.6 %
Date:2024-10-08 22:31:24Functions:151788.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()23
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>)108
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4662
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)217
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28741
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&)25340
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)120413
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28461
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&)3121
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)64890
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)280
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&)27
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2892
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..96cbbf6f55 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html new file mode 100644 index 0000000000..d1141fdf76 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html @@ -0,0 +1,1930 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + + + + + + + +
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:62577580.6 %
Date:2024-10-08 22:31:24Functions: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         108 : 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         108 :   nh_ = nh;
+     217             : 
+     218         108 :   common_handlers_  = common_handlers;
+     219         108 :   private_handlers_ = private_handlers;
+     220             : 
+     221         108 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223         108 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231         108 :   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         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         216 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281         108 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283         108 :   if (_tilt_angle_failsafe_enabled_ && std::abs(_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         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303         108 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318         108 :   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         108 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326         108 :         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         108 :   uav_mass_difference_ = 0;
+     333         108 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334         108 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338         108 :   drs_params_.kpxy             = gains_.kpxy;
+     339         108 :   drs_params_.kvxy             = gains_.kvxy;
+     340         108 :   drs_params_.kaxy             = gains_.kaxy;
+     341         108 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342         108 :   drs_params_.kibxy            = gains_.kibxy;
+     343         108 :   drs_params_.kpz              = gains_.kpz;
+     344         108 :   drs_params_.kvz              = gains_.kvz;
+     345         108 :   drs_params_.kaz              = gains_.kaz;
+     346         108 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347         108 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348         108 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349         108 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350         108 :   drs_params_.km               = gains_.km;
+     351         108 :   drs_params_.km_lim           = gains_.km_lim;
+     352         108 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354         108 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355         108 :   drs_->updateConfig(drs_params_);
+     356         108 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357         108 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361         108 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365         108 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366         108 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367         108 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368         108 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372         108 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376         108 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378         108 :   is_initialized_ = true;
+     379             : 
+     380         108 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          27 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          27 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          27 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          27 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           1 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           1 :     activation_mass += uav_mass_difference_;
+     396           1 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          27 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          27 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           1 :     Ib_b_(0) = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           1 :     Ib_b_(1) = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           1 :     Iw_w_(0) = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           1 :     Iw_w_(1) = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           1 :     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          27 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          27 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420          14 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422          14 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424          14 :     if (throttle_difference > 0) {
+     425           3 :       rampup_direction_ = 1;
+     426          11 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429          11 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432          14 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434          14 :     rampup_active_     = true;
+     435          14 :     rampup_start_time_ = ros::Time::now();
+     436          14 :     rampup_last_time_  = ros::Time::now();
+     437          14 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439          14 :     rampup_duration_ = std::abs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          27 :   first_iteration_ = true;
+     443          27 :   mute_gains_      = true;
+     444             : 
+     445          27 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          27 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          27 :   is_active_ = true;
+     452             : 
+     453          27 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          23 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          23 :   is_active_           = false;
+     463          23 :   first_iteration_     = false;
+     464          23 :   uav_mass_difference_ = 0;
+     465             : 
+     466          23 :   timer_gains_.stop();
+     467             : 
+     468          23 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          23 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475      120413 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477      120413 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479      120413 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481      120413 :   first_iteration_ = false;
+     482      120413 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       28741 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       86223 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     491       86223 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       57482 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       28741 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       28741 :   last_control_output_.desired_heading_rate          = {};
+     498       28741 :   last_control_output_.desired_orientation           = {};
+     499       28741 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       28741 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       28741 :   if (first_iteration_) {
+     507          27 :     dt               = 0.01;
+     508          27 :     first_iteration_ = false;
+     509             :   } else {
+     510       28714 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       28741 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       28741 :   if (std::abs(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       28741 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       28741 :   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       28741 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       20413 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       20413 :     lowest_modality = common::ATTITUDE_RATE;
+     538        8328 :   } 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        8328 :   } 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        8328 :   } 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       28741 :   switch (lowest_modality.value()) {
+     550             : 
+     551         280 :     case common::POSITION: {
+     552         280 :       positionPassthrough(uav_state, tracker_command);
+     553         280 :       break;
+     554             :     }
+     555             : 
+     556        1169 :     case common::VELOCITY_HDG: {
+     557        1169 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558        1169 :       break;
+     559             :     }
+     560             : 
+     561        1952 :     case common::VELOCITY_HDG_RATE: {
+     562        1952 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563        1952 :       break;
+     564             :     }
+     565             : 
+     566         574 :     case common::ACCELERATION_HDG: {
+     567         574 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         574 :       break;
+     569             :     }
+     570             : 
+     571         535 :     case common::ACCELERATION_HDG_RATE: {
+     572         535 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         535 :       break;
+     574             :     }
+     575             : 
+     576        1188 :     case common::ATTITUDE: {
+     577        1188 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1188 :       break;
+     579             :     }
+     580             : 
+     581       20413 :     case common::ATTITUDE_RATE: {
+     582       20413 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       20413 :       break;
+     584             :     }
+     585             : 
+     586        1332 :     case common::CONTROL_GROUP: {
+     587        1332 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1332 :       break;
+     589             :     }
+     590             : 
+     591        1298 :     case common::ACTUATORS_CMD: {
+     592        1298 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1298 :       break;
+     594             :     }
+     595             : 
+     596       28741 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       28741 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2892 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2892 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2892 :   controller_status.active = is_active_;
+     612             : 
+     613        2892 :   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         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         428 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         428 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         428 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         856 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         428 :   res.success = true;
+     686         428 :   res.message = "constraints updated";
+     687             : 
+     688         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       25340 : 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       50680 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       25340 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       25340 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       25340 :   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       25340 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       25340 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       25340 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       25340 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       25340 :     if (tracker_command.use_position_horizontal) {
+     725       25340 :       Rp(0) = tracker_command.position.x;
+     726       25340 :       Rp(1) = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv(0) = 0;
+     729           0 :       Rv(1) = 0;
+     730             :     }
+     731             : 
+     732       25340 :     if (tracker_command.use_position_vertical) {
+     733       25340 :       Rp(2) = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv(2) = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       25340 :   if (tracker_command.use_velocity_horizontal) {
+     740       25340 :     Rv(0) = tracker_command.velocity.x;
+     741       25340 :     Rv(1) = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv(0) = 0;
+     744           0 :     Rv(1) = 0;
+     745             :   }
+     746             : 
+     747       25340 :   if (tracker_command.use_velocity_vertical) {
+     748       25340 :     Rv(2) = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv(2) = 0;
+     751             :   }
+     752             : 
+     753       25340 :   if (tracker_command.use_acceleration) {
+     754       25339 :     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       25340 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       25340 :   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       25340 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       25340 :   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       25340 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       25340 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       25340 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       25340 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       25340 :   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       25340 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       25340 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       25340 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       25340 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       25340 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       25340 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       25340 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       25340 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       25340 :     if (tracker_command.use_position_horizontal) {
+     803       25340 :       Kp(0) = gains.kpxy;
+     804       25340 :       Kp(1) = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp(0) = 0;
+     807           0 :       Kp(1) = 0;
+     808             :     }
+     809             : 
+     810       25340 :     if (tracker_command.use_position_vertical) {
+     811       25340 :       Kp(2) = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp(2) = 0;
+     814             :     }
+     815             : 
+     816       25340 :     if (tracker_command.use_velocity_horizontal) {
+     817       25340 :       Kv(0) = gains.kvxy;
+     818       25340 :       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       25340 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       25340 :       Kv(2) = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv(2) = 0;
+     829             :     }
+     830             : 
+     831       25340 :     if (tracker_command.use_acceleration) {
+     832       25339 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           1 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       25340 :     if (!tracker_command.use_attitude_rate) {
+     838       25340 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       25340 :     Kw(0) = gains.kw_roll_pitch;
+     842       25340 :     Kw(1) = gains.kw_roll_pitch;
+     843       25340 :     Kw(2) = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       25340 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       25340 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       25340 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       50680 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       25340 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       25340 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       25340 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       25340 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       25340 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       50680 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       25340 :     if (res) {
+     867       25340 :       Ib_w(0) = res.value().vector.x;
+     868       25340 :       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       25340 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       25340 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       25340 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       25340 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       25340 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       25340 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       25340 :     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       50680 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       25340 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       25340 :     if (tracker_command.use_position_horizontal) {
+     905       25340 :       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       25340 :     bool world_integral_saturated = false;
+     912       25340 :     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       25340 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+     916           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       25340 :     } 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       25340 :     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       25340 :     world_integral_saturated = false;
+     929       25340 :     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       25340 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+     933           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       25340 :     } 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       25340 :     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       50680 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       25340 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       25340 :     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       50680 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       25340 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       25340 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       25340 :       Ep_stamped.vector.x        = Ep(0);
+     967       25340 :       Ep_stamped.vector.y        = Ep(1);
+     968       25340 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       76020 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       25340 :       if (res) {
+     973       25340 :         Ep_fcu_untilted(0) = res.value().vector.x;
+     974       25340 :         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       50680 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       25340 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       25340 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       25340 :       Ev_stamped.vector.x        = Ev(0);
+     987       25340 :       Ev_stamped.vector.y        = Ev(1);
+     988       25340 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       76020 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       25340 :       if (res) {
+     993       25340 :         Ev_fcu_untilted(0) = res.value().vector.x;
+     994       25340 :         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       25340 :     if (tracker_command.use_position_horizontal) {
+    1002       25340 :       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       25340 :     bool body_integral_saturated = false;
+    1009       25340 :     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       25340 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1013           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       25340 :     } 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       25340 :     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       25340 :     body_integral_saturated = false;
+    1026       25340 :     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       25340 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1030           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       25340 :     } 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       25340 :     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       25340 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1109 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1109 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1148 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         574 :       cmd.acceleration.x = des_acc(0);
+    1053         574 :       cmd.acceleration.y = des_acc(1);
+    1054         574 :       cmd.acceleration.z = des_acc(2);
+    1055             : 
+    1056         574 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         574 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         535 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         535 :       if (tracker_command.use_heading_rate) {
+    1065         535 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1070 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         535 :       cmd.acceleration.x = des_acc(0);
+    1071         535 :       cmd.acceleration.y = des_acc(1);
+    1072         535 :       cmd.acceleration.z = des_acc(2);
+    1073             : 
+    1074         535 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         535 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         535 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         535 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         535 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         535 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1109 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1109 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2218 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1109 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1109 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1109 :       world_accel.vector.x        = unbiased_des_acc_world(0);
+    1100        1109 :       world_accel.vector.y        = unbiased_des_acc_world(1);
+    1101        1109 :       world_accel.vector.z        = unbiased_des_acc_world(2);
+    1102             : 
+    1103        3327 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1109 :       if (res) {
+    1106        1109 :         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        1109 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1109 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1109 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1109 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1109 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1109 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1109 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1124        1109 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1125             : 
+    1126        1109 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1127        1109 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1128             : 
+    1129        1109 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1130        1109 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1131             : 
+    1132        1109 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1109 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1109 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       48462 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       24231 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       24215 :       uav_mass_difference_ += gains.km * Ep(2) * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       24231 :     bool uav_mass_saturated = false;
+    1154       24231 :     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       24231 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       24231 :     } 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       24231 :     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       24231 :   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       24231 :   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       24231 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       24231 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       24231 :   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       24231 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       24231 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       24231 :   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       24231 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       24231 :     if (tracker_command.use_heading) {
+    1233       24231 :       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       24231 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       24231 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       24231 :   double throttle             = 0;
+    1246             : 
+    1247       24231 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       24231 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          16 :     if (std::abs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257          14 :       rampup_active_ = false;
+    1258             : 
+    1259          14 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           2 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           2 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           2 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           2 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           2 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       24215 :     if (desired_thrust_force >= 0) {
+    1277       24215 :       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       24231 :   bool throttle_saturated = false;
+    1286             : 
+    1287       24231 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       24231 :   } 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       24231 :   } 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       24231 :   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       24231 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       24231 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       48462 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       24231 :     world_accel.header.stamp    = ros::Time::now();
+    1328       24231 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       24231 :     world_accel.vector.x        = unbiased_des_acc_world(0);
+    1330       24231 :     world_accel.vector.y        = unbiased_des_acc_world(1);
+    1331       24231 :     world_accel.vector.z        = unbiased_des_acc_world(2);
+    1332             : 
+    1333       72693 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       24231 :     if (res) {
+    1336       24231 :       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       24231 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       24231 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       24231 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       24231 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       24231 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       24231 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       24231 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       24231 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1359       24231 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1360             : 
+    1361       24231 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1362       24231 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1363             : 
+    1364       24231 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1365       24231 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1366             : 
+    1367       24231 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       24231 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       24231 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       24231 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       24231 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       24231 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       24231 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1188 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1188 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       23043 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       23043 :   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       23043 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       23042 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       23042 :       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       23042 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       23043 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       23043 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       23022 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       23022 :     Eigen::Matrix3d I;
+    1420       23022 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       23022 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       23022 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       23043 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       23043 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       46086 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       23043 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       23043 :       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       23043 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       20413 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       20413 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2630 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2630 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2630 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2630 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1332 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1332 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2596 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1298 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1298 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         280 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         280 :   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         560 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         280 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         280 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         280 :   cmd.position = tracker_command.position;
+    1502         280 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         280 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         280 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         280 :   last_control_output_.desired_orientation           = {};
+    1509         280 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         280 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         280 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         280 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         280 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         280 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         280 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         280 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         280 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         280 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         280 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         280 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         280 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538        3121 : 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        3121 :   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        3121 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547        3121 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549        3121 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550        3121 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552        3121 :   double hdg_ref = tracker_command.heading;
+    1553        3121 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557        3121 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559        3121 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560        3121 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565        3121 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568        3121 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570        3121 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575        3121 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579        3121 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580        3121 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581        3121 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583        3121 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1584        3121 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1585        3121 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589        3121 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591        3121 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595        2338 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597        1169 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598        1169 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600        1169 :     cmd.velocity.x = des_vel(0);
+    1601        1169 :     cmd.velocity.y = des_vel(1);
+    1602        1169 :     cmd.velocity.z = des_vel(2);
+    1603             : 
+    1604        1169 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606        1169 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608        1952 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610        1952 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612        1952 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614        1952 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618        1952 :     double des_hdg_ff = 0;
+    1619             : 
+    1620        1952 :     if (tracker_command.use_heading_rate) {
+    1621        1952 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626        3904 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628        1952 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629        1952 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631        1952 :     cmd.velocity.x = des_vel(0);
+    1632        1952 :     cmd.velocity.y = des_vel(1);
+    1633        1952 :     cmd.velocity.z = des_vel(2);
+    1634             : 
+    1635        1952 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637        1952 :     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        3121 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646        3121 :   last_control_output_.desired_orientation           = {};
+    1647        3121 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651        3121 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653        3121 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654        3121 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656        3121 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658        3121 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659        3121 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661        3121 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662        3121 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664        3121 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665        3121 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667        3121 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669        3121 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         217 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         217 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         217 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         217 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        4662 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        9324 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698        9324 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1699             : 
+    1700        4662 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1701        4662 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1702             : 
+    1703             :   // When muting the gains, we want to bypass the filter,
+    1704             :   // so it happens immediately.
+    1705        4662 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1706        4662 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1707             : 
+    1708        4662 :   mute_gains_ = false;
+    1709             : 
+    1710        4662 :   double dt = (event.current_real - event.last_real).toSec();
+    1711             : 
+    1712        4662 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    1713          27 :     return;
+    1714             :   }
+    1715             : 
+    1716        4635 :   bool updated = false;
+    1717             : 
+    1718        4635 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1719        4635 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1720        4635 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1721        4635 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1722        4635 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1723        4635 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1724        4635 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1725        4635 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1726        4635 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1727        4635 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1728        4635 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    1729             : 
+    1730             :   // do not apply muting on these gains
+    1731        4635 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1732        4635 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1733        4635 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1734             : 
+    1735        4635 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    1736             : 
+    1737             :   // set the gains back to dynamic reconfigure
+    1738             :   // and only do it when some filtering occurs
+    1739        4635 :   if (updated) {
+    1740             : 
+    1741         540 :     drs_params.kpxy          = gains.kpxy;
+    1742         540 :     drs_params.kvxy          = gains.kvxy;
+    1743         540 :     drs_params.kaxy          = gains.kaxy;
+    1744         540 :     drs_params.kiwxy         = gains.kiwxy;
+    1745         540 :     drs_params.kibxy         = gains.kibxy;
+    1746         540 :     drs_params.kpz           = gains.kpz;
+    1747         540 :     drs_params.kvz           = gains.kvz;
+    1748         540 :     drs_params.kaz           = gains.kaz;
+    1749         540 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1750         540 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1751         540 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1752         540 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1753         540 :     drs_params.km            = gains.km;
+    1754         540 :     drs_params.km_lim        = gains.km_lim;
+    1755             : 
+    1756         540 :     drs_->updateConfig(drs_params);
+    1757             : 
+    1758         540 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1759             :   }
+    1760             : }
+    1761             : 
+    1762             : //}
+    1763             : 
+    1764             : // --------------------------------------------------------------
+    1765             : // |                       other routines                       |
+    1766             : // --------------------------------------------------------------
+    1767             : 
+    1768             : /* calculateGainChange() //{ */
+    1769             : 
+    1770       64890 : double Se3Controller::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    1771             :                                           bool& updated) {
+    1772             : 
+    1773       64890 :   double change = desired_value - current_value;
+    1774             : 
+    1775       64890 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1776       64890 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1777             : 
+    1778       64890 :   if (!bypass_rate) {
+    1779             : 
+    1780             :     // if current value is near 0...
+    1781             :     double change_in_perc;
+    1782             :     double saturated_change;
+    1783             : 
+    1784       64890 :     if (std::abs(current_value) < 1e-6) {
+    1785           0 :       change *= gains_filter_max_change;
+    1786             :     } else {
+    1787             : 
+    1788       64890 :       saturated_change = change;
+    1789             : 
+    1790       64890 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    1791             : 
+    1792       64890 :       if (change_in_perc > gains_filter_max_change) {
+    1793        1269 :         saturated_change = current_value * gains_filter_max_change;
+    1794       63621 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1795         162 :         saturated_change = current_value * -gains_filter_max_change;
+    1796             :       }
+    1797             : 
+    1798       64890 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    1799          37 :         change *= gains_filter_min_change;
+    1800             :       } else {
+    1801       64853 :         change = saturated_change;
+    1802             :       }
+    1803             :     }
+    1804             :   }
+    1805             : 
+    1806       64890 :   if (std::abs(change) > 1e-3) {
+    1807        1593 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1808        1593 :     updated = true;
+    1809             :   }
+    1810             : 
+    1811       64890 :   return current_value + change;
+    1812             : }
+    1813             : 
+    1814             : //}
+    1815             : 
+    1816             : /* getHeadingSafely() //{ */
+    1817             : 
+    1818       28461 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1819             : 
+    1820             :   try {
+    1821       28461 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1822             :   }
+    1823           0 :   catch (...) {
+    1824             :   }
+    1825             : 
+    1826             :   try {
+    1827           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    1828             :   }
+    1829           0 :   catch (...) {
+    1830             :   }
+    1831             : 
+    1832           0 :   if (tracker_command.use_heading) {
+    1833           0 :     return tracker_command.heading;
+    1834             :   }
+    1835             : 
+    1836           0 :   return 0;
+    1837             : }
+    1838             : 
+    1839             : //}
+    1840             : 
+    1841             : }  // namespace se3_controller
+    1842             : 
+    1843             : }  // namespace mrs_uav_controllers
+    1844             : 
+    1845             : #include <pluginlib/class_list_macros.h>
+    1846         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-10-08 22:31:24Functions:1010100.0 %
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-10-08 22:31:24Functions:1010100.0 %
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100.0%
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-10-08 22:31:24Functions:1010100.0 %
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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:2024-10-08 22:31:24Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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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&)563
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)125276
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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:2024-10-08 22:31:24Functions: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::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)125276
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
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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:2024-10-08 22:31:24Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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      125276 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52      125276 :     void operator()(const T& msg) {
+      53      125276 :       obj_->publish(msg);
+      54      125276 :     }
+      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

+ Overview +
+ + 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:2024-10-08 22:31:24Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)87
mrs_uav_managers::AglEstimator::~AglEstimator().287
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+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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&)87
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().287
+
+
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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..3cb1f3959c --- /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 + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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          87 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          87 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          87 :   }
+      57             : 
+      58          87 :   virtual ~AglEstimator(void) {
+      59          87 :   }
+      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..cce7144aac --- /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 + + + + + + + + + + + + + + +
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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:539655.2 %
Date:2024-10-08 22:31:24Functions:192770.4 %
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::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
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::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&)563
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)1099
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
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&)1100
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
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&)1445
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
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&)2482
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2595
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&)3990
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&)4029
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5384
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5423
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&)8193
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13730
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14359
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&)88020
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)105056
+
+
+ + + +
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..53966f66d7 --- /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:539655.2 %
Date:2024-10-08 22:31:24Functions:192770.4 %
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&)3990
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&)8193
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&)563
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&)1445
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&)88020
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&)4029
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&)1099
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&)2482
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&)1100
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
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&)14359
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&)5384
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13730
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)105056
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5423
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2595
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
+
+
+ + + +
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..94ecbf3aa1 --- /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:539655.2 %
Date:2024-10-08 22:31:24Functions:192770.4 %
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        5384 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5384 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5384 :     double throttle = 0;
+      88             : 
+      89       26920 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       21536 :       throttle += msg.motors.at(i);
+      91             :     };
+      92             : 
+      93        5384 :     throttle /= msg.motors.size();
+      94             : 
+      95        5384 :     return throttle;
+      96             :   }
+      97        5423 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5423 :     return msg.throttle;
+      99             :   }
+     100       13730 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13730 :     return msg.throttle;
+     102             :   }
+     103      105056 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104      105056 :     return msg.throttle;
+     105             :   }
+     106        1100 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1100 :     return std::nullopt;
+     108             :   }
+     109        1099 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1099 :     return std::nullopt;
+     111             :   }
+     112        2595 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113        2595 :     return std::nullopt;
+     114             :   }
+     115        1445 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116        1445 :     return std::nullopt;
+     117             :   }
+     118         563 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         563 :     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        3990 :   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        3990 :     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        3990 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        4029 :   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        4029 :     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        4029 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        8193 :   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        8193 :     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        8193 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       88020 :   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       88020 :     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       88020 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183        1100 :   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        1100 :     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        1100 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193        1099 :   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        1099 :     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        1099 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203        2482 :   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        2482 :     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        2482 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213        1445 :   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        1445 :     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        1445 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         563 :   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         563 :     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         563 :     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           0 :   void operator()(mrs_msgs::HwApiActuatorCmd& msg, [[maybe_unused]] const mrs_msgs::UavState& uav_state, const double& min_throttle, const double& n_motors) {
+     255           0 :     initializeHwApiCmd(msg, min_throttle, n_motors);
+     256           0 :   }
+     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           0 :   void operator()(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle, [[maybe_unused]] const double& n_motors) {
+     262           0 :     initializeHwApiCmd(msg, uav_state, min_throttle);
+     263           0 :   }
+     264       14359 :   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       14359 :     initializeHwApiCmd(msg, min_throttle);
+     267       14359 :   }
+     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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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - controller.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11100.0 %
Date:2024-10-08 22:31:24Functions:1250.0 %
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mrs_uav_managers::Controller::~Controller()0
mrs_uav_managers::Controller::~Controller().2540
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - controller.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11100.0 %
Date:2024-10-08 22:31:24Functions:1250.0 %
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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         540 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-10-08 22:31:24Functions:2366.7 %
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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&)635
mrs_uav_managers::Estimator::~Estimator().2635
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
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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&)635
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2635
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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         635 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         635 :   }
+      65             : 
+      66         635 :   virtual ~Estimator(void) {
+      67         635 :   }
+      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();
+      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:10610997.2 %
Date:2024-10-08 22:31:24Functions:171894.4 %
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-10-08 22:31:24Functions:171894.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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:10210597.1 %
Date:2024-10-08 22:31:24Functions:1515100.0 %
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::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)5
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10
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&)336
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)432
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2501
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)172549
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)327270
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)364318
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)379075
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)380577
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)405480
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)767155
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)777281
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1142763
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1262192
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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:10210597.1 %
Date:2024-10-08 22:31:24Functions:1515100.0 %
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::Support::msgFromTf2(tf2::Transform const&)364318
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)5
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)777281
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1142763
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)432
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2501
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)380577
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)172549
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)767155
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)327270
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)379075
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&)336
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)405480
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1262192
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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:10210597.1 %
Date:2024-10-08 22:31:24Functions:1515100.0 %
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        2501 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        2501 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       39307 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       36806 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        2067 :         str += "_";
+      45             :       }
+      46       36806 :       str += *it;
+      47             :     }
+      48             : 
+      49        2501 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        2501 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         432 : static std::string toLowercase(const std::string str_in) {
+      58         432 :   std::string str_out = str_in;
+      59         432 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         432 :   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      327270 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      327270 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      323172 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      322737 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      643512 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111     1262192 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     3785665 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     5047006 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     2523616 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      405480 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      405480 :     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     1142763 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137     1142763 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139     1142227 :     tf2::Quaternion q;
+     140     1142256 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142     1142067 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     2280380 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      777281 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      777281 :     geometry_msgs::Pose pose_out;
+     154      775341 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      776798 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      777163 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      777424 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      777595 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      364318 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      364318 :     geometry_msgs::Transform tf_out;
+     169      364318 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      364318 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      364318 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      364318 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      364318 :     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      767155 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      767155 :     geometry_msgs::Vector3 vec_out;
+     196      766894 :     vec_out.x = point_in.x;
+     197      766894 :     vec_out.y = point_in.y;
+     198      766894 :     vec_out.z = point_in.z;
+     199             : 
+     200      766894 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      380577 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      380577 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      380549 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      380486 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      380514 :       geometry_msgs::Vector3 vec_out;
+     213      380333 :       vec_out.x = vec_eigen_rotated[0];
+     214      380303 :       vec_out.y = vec_eigen_rotated[1];
+     215      380398 :       vec_out.z = vec_eigen_rotated[2];
+     216      380437 :       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      379075 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      379075 :     nav_msgs::Odometry odom;
+     228      379071 :     odom.header              = uav_state.header;
+     229      379072 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      379066 :     odom.pose.pose           = uav_state.pose;
+     231      379066 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      379066 :     tf2::Quaternion q;
+     234      379066 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      379060 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      757904 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           5 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           5 :     tf2::Vector3 v1, v2;
+     245           5 :     tf2::fromMsg(p1.position, v1);
+     246           5 :     tf2::fromMsg(p2.position, v2);
+     247           5 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           5 :     tf2::Quaternion q1, q2;
+     250           5 :     tf2::fromMsg(p1.orientation, q1);
+     251           5 :     tf2::fromMsg(p2.orientation, q2);
+     252           5 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           5 :     q3.normalize();
+     254             : 
+     255           5 :     geometry_msgs::Pose pose_diff;
+     256           5 :     tf2::toMsg(v3, pose_diff.position);
+     257           5 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259          10 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264      172549 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      172549 :     tf2::Vector3    pos_in;
+     267      172549 :     tf2::Quaternion q_in;
+     268      172549 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      172549 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      172549 :     tf2::Vector3    pos_diff;
+     272      172549 :     tf2::Quaternion q_diff;
+     273      172549 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      172549 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      172549 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      172549 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      172549 :     geometry_msgs::Pose pose_out;
+     280      172549 :     tf2::toMsg(pos_out, pose_out.position);
+     281      172549 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      345098 :     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         336 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         336 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305          10 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306          20 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307          20 :     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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Date:2024-10-08 22:31:24Functions:61060.0 %
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Test:MRS UAV System - Test coverage reportLines:1212100.0 %
Date:2024-10-08 22:31:24Functions:61060.0 %
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controller.h +
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state_estimator.h +
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tracker.h +
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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&)116
mrs_uav_managers::StateEstimator::~StateEstimator().2116
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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&)116
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().2116
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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         116 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62         116 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63         116 :   }
+      64             : 
+      65         116 :   virtual ~StateEstimator(void) {
+      66         116 :   }
+      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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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2649
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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         649 :   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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html new file mode 100644 index 0000000000..8218f6ae36 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html @@ -0,0 +1,118 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.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 + + +
+ Top

+ Overview +
+ + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19524479.9 %
Date:2024-10-08 22:31:24Functions:131492.9 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::TfSource::setIsUtmSource(bool)10
mrs_uav_managers::TfSource::getIsUtmSource()18
mrs_uav_managers::TfSource::getIsUtmBased()20
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
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)116
mrs_uav_managers::TfSource::getName[abi:cxx11]()1063
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> > >&)155555
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)207799
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)207867
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)214096
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)214121
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()996353
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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..24a0cc917b --- /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:19524479.9 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()996353
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::getIsUtmBased()20
mrs_uav_managers::TfSource::getIsUtmSource()18
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::TfSource::setIsUtmSource(bool)10
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)214096
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> > >&)155555
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)207799
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)214121
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)207867
mrs_uav_managers::TfSource::getName[abi:cxx11]()1063
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)116
+
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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..c3251cbe5d --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html @@ -0,0 +1,712 @@ + + + + + + + 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:19524479.9 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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         116 :   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         116 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43         116 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45         116 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         232 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         232 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53         116 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54         116 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55         116 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58         116 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_child_frame_id/enabled", custom_child_frame_id_enabled_, false);
+      59         116 :       if (custom_child_frame_id_enabled_) {
+      60           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_child_frame_id/frame_id", custom_child_frame_id_);
+      61             :       }
+      62         116 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      63         116 :       if (tf_from_attitude_enabled_) {
+      64         115 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      65             :       }
+      66         116 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      67         116 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      68         116 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      69         116 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      70         116 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      71             : 
+      72             :       /* coordinate frames origins //{ */
+      73         116 :       param_loader->loadParam(yaml_prefix + getName() + "/utm_based", is_utm_based_);
+      74             :       /* param_loader->loadParam(yaml_prefix + getName() + "/publish_local_tf", publish_local_tf_); */
+      75             : 
+      76             :       /*//{ utm source */
+      77         116 :       if (is_utm_based_) {
+      78         230 :         std::string utm_origin_parent_frame_id;
+      79         115 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      80         115 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      81             : 
+      82         115 :         std::string utm_origin_child_frame_id;
+      83         115 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      84         115 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      85             :       }
+      86             :       /*//}*/
+      87             : 
+      88             :       /*//{ world source */
+      89         116 :       if (is_utm_based_) {
+      90         230 :         std::string world_origin_parent_frame_id;
+      91         115 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      92         115 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      93             : 
+      94         115 :         std::string world_origin_child_frame_id;
+      95         115 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      96         115 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      97             :       }
+      98             :       /*//}*/
+      99             : 
+     100             :       //}
+     101             : 
+     102         116 :       if (!param_loader->loadedSuccessfully()) {
+     103           0 :         ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     104           0 :         ros::shutdown();
+     105             :       }
+     106             : 
+     107             :       /*//}*/
+     108             : 
+     109             :       /*//{ initialize subscribers */
+     110         232 :       mrs_lib::SubscribeHandlerOptions shopts;
+     111         116 :       shopts.nh                 = nh_;
+     112         116 :       shopts.node_name          = getPrintName();
+     113         116 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     114         116 :       shopts.threadsafe         = true;
+     115         116 :       shopts.autostart          = true;
+     116         116 :       shopts.queue_size         = 10;
+     117         116 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     118             : 
+     119         116 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     120         116 :       if (tf_from_attitude_enabled_) {
+     121         115 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     122             :       }
+     123             : 
+     124         116 :       if (is_utm_source_) {
+     125         107 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     126             :       }
+     127             : 
+     128             :     }
+     129             :     /*//}*/
+     130             : 
+     131         206 :     for (auto frame_id : republish_in_frames_) {
+     132          90 :       republishers_.push_back(
+     133         180 :           std::make_pair(frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, full_topic_odom_ + "/" + frame_id.substr(0, frame_id.find("_origin")))));
+     134             :     }
+     135         116 :     is_initialized_ = true;
+     136         116 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     137         116 :   }
+     138             :   /*//}*/
+     139             : 
+     140             :   /*//{ getName() */
+     141        1063 :   std::string getName() {
+     142        1063 :     return name_;
+     143             :   }
+     144             :   /*//}*/
+     145             : 
+     146             :   /*//{ getPrintName() */
+     147      996353 :   std::string getPrintName() {
+     148     1994972 :     return ch_->nodelet_name + "/" + name_;
+     149             :   }
+     150             :   /*//}*/
+     151             : 
+     152             :   /*//{ getIsUtmBased() */
+     153          20 :   bool getIsUtmBased() {
+     154          20 :     return is_utm_based_;
+     155             :   }
+     156             :   /*//}*/
+     157             : 
+     158             :   /*//{ getIsUtmSource() */
+     159          18 :   bool getIsUtmSource() {
+     160          18 :     return is_utm_source_;
+     161             :   }
+     162             :   /*//}*/
+     163             : 
+     164             :   /*//{ setIsUtmSource() */
+     165          10 :   void setIsUtmSource(const bool is_utm_source) {
+     166          10 :     if (is_utm_source) {
+     167           5 :       mrs_lib::SubscribeHandlerOptions shopts;
+     168           5 :       shopts.nh                 = nh_;
+     169           5 :       shopts.node_name          = getPrintName();
+     170           5 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     171           5 :       shopts.threadsafe         = true;
+     172           5 :       shopts.autostart          = true;
+     173           5 :       shopts.queue_size         = 10;
+     174           5 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     175           5 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     176             :     }
+     177          10 :     is_utm_source_ = is_utm_source;
+     178          10 :   }
+     179             :   /*//}*/
+     180             : 
+     181             :   /*//{ setUtmOrigin() */
+     182         116 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     183             : 
+     184         116 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     185         115 :       utm_origin_        = pt;
+     186         115 :       is_utm_origin_set_ = true;
+     187             :     }
+     188         116 :   }
+     189             :   /*//}*/
+     190             : 
+     191             :   /*//{ setWorldOrigin() */
+     192         116 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     193             : 
+     194         116 :     if (is_utm_based_ && !is_world_origin_set_) {
+     195         115 :       world_origin_        = pt;
+     196         115 :       is_world_origin_set_ = true;
+     197             :     }
+     198         116 :   }
+     199             :   /*//}*/
+     200             : 
+     201             : private:
+     202             :   const std::string name_;
+     203             :   const std::string ns_fcu_frame_id_;
+     204             : 
+     205             :   ros::NodeHandle nh_;
+     206             : 
+     207             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     208             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     209             : 
+     210             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     211             : 
+     212             :   bool is_inverted_;
+     213             : 
+     214             :   bool             is_utm_based_;
+     215             :   bool             publish_local_tf_ = false;
+     216             :   bool             publish_utm_tf_   = false;
+     217             :   bool             publish_world_tf_ = false;
+     218             :   std::atomic_bool is_utm_source_    = false;
+     219             :   std::string      ns_utm_origin_parent_frame_id_;
+     220             :   std::string      ns_utm_origin_child_frame_id_;
+     221             : 
+     222             :   bool                 is_utm_origin_set_ = false;
+     223             :   geometry_msgs::Point utm_origin_;
+     224             : 
+     225             :   std::string ns_world_origin_parent_frame_id_;
+     226             :   std::string ns_world_origin_child_frame_id_;
+     227             : 
+     228             :   bool                 is_world_origin_set_ = false;
+     229             :   geometry_msgs::Point world_origin_;
+     230             : 
+     231             :   std::string full_topic_odom_;
+     232             :   std::string full_topic_attitude_;
+     233             :   bool        tf_from_attitude_enabled_ = false;
+     234             : 
+     235             :   bool        custom_frame_id_enabled_;
+     236             :   std::string custom_frame_id_;
+     237             : 
+     238             :   bool        custom_child_frame_id_enabled_;
+     239             :   std::string custom_child_frame_id_;
+     240             : 
+     241             :   std::atomic_bool is_initialized_               = false;
+     242             :   std::atomic_bool is_local_static_tf_published_ = false;
+     243             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     244             :   std::atomic_bool is_world_static_tf_published_ = false;
+     245             : 
+     246             :   std::vector<std::string> republish_in_frames_;
+     247             : 
+     248             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     249             : 
+     250             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     251             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     252             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     253             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     254             :   bool                                                        got_first_msg_ = false;
+     255             : 
+     256             : 
+     257             :   /*//{ callbackTfSourceOdom()*/
+     258      207867 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     259             : 
+     260      207867 :     if (!is_initialized_) {
+     261           0 :       return;
+     262             :     }
+     263             : 
+     264      623572 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     265             : 
+     266      207817 :     scope_timer.checkpoint("get msg");
+     267             : 
+     268      207857 :     if (!got_first_msg_) {
+     269         116 :       first_msg_     = msg;
+     270         116 :       got_first_msg_ = true;
+     271             :     }
+     272             : 
+     273      207857 :     publishTfFromOdom(msg);
+     274      207890 :     scope_timer.checkpoint("pub tf");
+     275             : 
+     276      207878 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     277           0 :       publishLocalTf(msg->header.frame_id);
+     278           0 :       scope_timer.checkpoint("pub local tf");
+     279             :     }
+     280             : 
+     281             :     /* if (publish_utm_tf_ && is_utm_based_ && is_utm_origin_set_ && !is_utm_static_tf_published_) { */
+     282             :     /*   publishUtmTf(msg->header.frame_id); */
+     283             :     /*   scope_timer.checkpoint("pub utm tf"); */
+     284             :     /* } */
+     285             : 
+     286             :     /* if (publish_world_tf_ && is_utm_based_ && is_world_origin_set_ && !is_world_static_tf_published_) { */
+     287             :     /*   publishWorldTf(msg->header.frame_id); */
+     288             :     /*   scope_timer.checkpoint("pub world tf"); */
+     289             :     /* } */
+     290             : 
+     291      363433 :     for (auto republisher : republishers_) {
+     292      155555 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     293             :     }
+     294             :   }
+     295             :   /*//}*/
+     296             : 
+     297             :   /*//{ callbackTfSourceAtt()*/
+     298      214121 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     299             : 
+     300      214121 :     if (!is_initialized_) {
+     301           0 :       return;
+     302             :     }
+     303             : 
+     304      642362 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     305             : 
+     306      214091 :     scope_timer.checkpoint("get msg");
+     307      214118 :     publishTfFromAtt(msg);
+     308             :   }
+     309             :   /*//}*/
+     310             : 
+     311             :   /* publishTfFromOdom() //{*/
+     312      207799 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     313             : 
+     314      415678 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     315             : 
+     316      207863 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     317      207828 :     const tf2::Transform      tf_inv   = tf.inverse();
+     318      207836 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     319             : 
+     320             :     /*//{ tf source origin */
+     321      207829 :     geometry_msgs::TransformStamped tf_msg;
+     322      207781 :     tf_msg.header.stamp         = odom->header.stamp;
+     323      207794 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     324      207830 :     std::string child_frame_id = custom_child_frame_id_enabled_ ? ch_->uav_name + "/" + custom_child_frame_id_ : ch_->frames.ns_fcu;
+     325      207837 :     if (is_inverted_) {
+     326             : 
+     327      207837 :       tf_msg.header.frame_id       = child_frame_id;
+     328      207884 :       tf_msg.child_frame_id        = origin_frame_id;
+     329      207819 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     330      207816 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     331             : 
+     332             :     } else {
+     333           0 :       tf_msg.header.frame_id       = origin_frame_id;
+     334           0 :       tf_msg.child_frame_id        = child_frame_id;
+     335           0 :       tf_msg.transform.translation = Support::pointToVector3(odom->pose.pose.position);
+     336           0 :       tf_msg.transform.rotation    = odom->pose.pose.orientation;
+     337             :     }
+     338             : 
+     339      207816 :     if (Support::noNans(tf_msg)) {
+     340             :       try {
+     341      207817 :         broadcaster_->sendTransform(tf_msg);
+     342             :       }
+     343           0 :       catch (...) {
+     344           0 :         ROS_ERROR("exception caught ");
+     345             :       }
+     346             : 
+     347      207881 :       if (tf_from_attitude_enabled_) {
+     348      206372 :         if (is_inverted_) {
+     349      206374 :           tf_msg.child_frame_id += "_att_only";
+     350             :         } else {
+     351           0 :           tf_msg.header.frame_id += "_att_only";
+     352             :         }
+     353             :         try {
+     354      206381 :           broadcaster_->sendTransform(tf_msg);
+     355             :         }
+     356           0 :         catch (...) {
+     357           0 :           ROS_ERROR("exception caught ");
+     358             :         }
+     359             :       }
+     360             :       /*//}*/
+     361             : 
+     362             :       /*//{ tf utm origin */
+     363             : 
+     364      207889 :       geometry_msgs::TransformStamped tf_utm_msg;
+     365      207882 :       if (is_utm_source_) {
+     366             :         
+     367      182159 :         if (!is_utm_origin_set_) {
+     368           0 :           ROS_INFO_THROTTLE(5.0, "[%s]: %s utm_origin initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     369           0 :           return;
+     370             :         }
+     371             : 
+     372      182159 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     373      182159 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     374      182159 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     375             : 
+     376      182159 :         if (sh_altitude_amsl_.hasMsg()) {
+     377      182157 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     378             :         } else {
+     379           2 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     380             :         }
+     381             : 
+     382      182159 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     383      182159 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     384      182159 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     385             : 
+     386      182159 :         tf2::Transform tf_utm;
+     387      182159 :         if (is_inverted_) {
+     388      182159 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     389             :         } else {
+     390           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     391             :         }
+     392      182159 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     393             : 
+     394             :         try {
+     395      182159 :           broadcaster_->sendTransform(tf_utm_msg);
+     396      182159 :           ROS_INFO_ONCE("[%s]: publishing utm_origin tf", getPrintName().c_str());
+     397             :         }
+     398           0 :         catch (...) {
+     399           0 :           ROS_ERROR("exception caught ");
+     400             :         }
+     401             :       }
+     402             :       /*//}*/
+     403             : 
+     404             :       /*//{ tf world origin */
+     405      207881 :       if (is_utm_source_) {
+     406      364318 :         geometry_msgs::TransformStamped tf_world_msg;
+     407      182159 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     408      182159 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     409      182159 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     410             : 
+     411      182159 :         tf2::Transform tf_world;
+     412      182159 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     413      182159 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     414             : 
+     415      182159 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     416      182159 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     417      182159 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     418             : 
+     419      182159 :         tf2::Transform tf_utm;
+     420      182159 :         if (is_inverted_) {
+     421      182159 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     422             :         } else {
+     423           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     424             :         }
+     425             : 
+     426      182159 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     427      182159 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     428             : 
+     429             :         try {
+     430      182159 :           broadcaster_->sendTransform(tf_world_msg);
+     431      182159 :           ROS_INFO_ONCE("[%s]: publishing world_origin tf", getPrintName().c_str());
+     432             :         }
+     433           0 :         catch (...) {
+     434           0 :           ROS_ERROR("exception caught ");
+     435             :         }
+     436             :       }
+     437             : 
+     438             :       /*//}*/
+     439             : 
+     440             :     } else {
+     441           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(),
+     442             :                         tf_msg.child_frame_id.c_str());
+     443             :     }
+     444      207888 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     445             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     446             :   }
+     447             :   /*//}*/
+     448             : 
+     449             :   /* publishTfFromAtt() //{*/
+     450      214096 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     451             : 
+     452      642361 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     453             : 
+     454      428245 :     geometry_msgs::TransformStamped tf_msg;
+     455      214086 :     tf_msg.header.stamp = msg->header.stamp;
+     456             : 
+     457      214113 :     geometry_msgs::Pose pose;
+     458      214100 :     pose.position.x = 0.0;
+     459      214100 :     pose.position.y = 0.0;
+     460      214100 :     pose.position.z = 0.0;
+     461      214100 :     pose.orientation = msg->quaternion;
+     462      214107 :     if (is_inverted_) {
+     463             : 
+     464      214107 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     465      214104 :       const tf2::Transform      tf_inv   = tf.inverse();
+     466      214088 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     467             : 
+     468      214109 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     469      214082 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     470      214093 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     471      214104 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     472             : 
+     473             :     } else {
+     474           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     475           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     476           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     477           0 :       tf_msg.transform.rotation    = pose.orientation;
+     478             :     }
+     479             : 
+     480      214104 :     if (Support::noNans(tf_msg)) {
+     481             :       try {
+     482      214086 :         scope_timer.checkpoint("before pub");
+     483      214094 :         broadcaster_->sendTransform(tf_msg);
+     484      214134 :         scope_timer.checkpoint("after pub");
+     485             :       }
+     486           0 :       catch (...) {
+     487           0 :         ROS_ERROR("exception caught ");
+     488             :       }
+     489             :     } else {
+     490           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(),
+     491             :                         tf_msg.child_frame_id.c_str());
+     492             :     }
+     493      214126 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     494             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_attitude_.c_str());
+     495      214133 :   }
+     496             :   /*//}*/
+     497             : 
+     498             :   /* publishLocalTf() //{*/
+     499           0 :   void publishLocalTf(const std::string& frame_id) {
+     500             : 
+     501           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     502             : 
+     503           0 :     geometry_msgs::TransformStamped tf_msg;
+     504           0 :     tf_msg.header.stamp = ros::Time::now();
+     505             : 
+     506           0 :     tf_msg.header.frame_id       = frame_id;
+     507           0 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     508           0 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     509           0 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     510             : 
+     511           0 :     if (Support::noNans(tf_msg)) {
+     512             :       try {
+     513           0 :         static_broadcaster_.sendTransform(tf_msg);
+     514             :       }
+     515           0 :       catch (...) {
+     516           0 :         ROS_ERROR("exception caught ");
+     517             :       }
+     518             :     } else {
+     519           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(),
+     520             :                         tf_msg.child_frame_id.c_str());
+     521             :     }
+     522           0 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     523             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     524           0 :     is_local_static_tf_published_ = true;
+     525           0 :   }
+     526             :   /*//}*/
+     527             : 
+     528             :   /* publishUtmTf() //{*/
+     529             :   void publishUtmTf(const std::string& frame_id) {
+     530             : 
+     531             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     532             : 
+     533             :     geometry_msgs::TransformStamped tf_msg;
+     534             :     tf_msg.header.stamp = ros::Time::now();
+     535             : 
+     536             :     tf_msg.header.frame_id         = frame_id;
+     537             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     538             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     539             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     540             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     541             :     tf_msg.transform.rotation.x    = 0;
+     542             :     tf_msg.transform.rotation.y    = 0;
+     543             :     tf_msg.transform.rotation.z    = 0;
+     544             :     tf_msg.transform.rotation.w    = 1;
+     545             : 
+     546             :     if (Support::noNans(tf_msg)) {
+     547             :       try {
+     548             :         static_broadcaster_.sendTransform(tf_msg);
+     549             :       }
+     550             :       catch (...) {
+     551             :         ROS_ERROR("exception caught ");
+     552             :       }
+     553             :     } else {
+     554             :       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(),
+     555             :                         tf_msg.child_frame_id.c_str());
+     556             :     }
+     557             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     558             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     559             :     is_utm_static_tf_published_ = true;
+     560             :   }
+     561             :   /*//}*/
+     562             : 
+     563             :   /* publishWorldTf() //{*/
+     564             :   void publishWorldTf(const std::string& frame_id) {
+     565             : 
+     566             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     567             : 
+     568             :     geometry_msgs::TransformStamped tf_msg;
+     569             :     tf_msg.header.stamp = ros::Time::now();
+     570             : 
+     571             :     tf_msg.header.frame_id         = frame_id;
+     572             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     573             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     574             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     575             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     576             :     tf_msg.transform.translation.z = 0;
+     577             :     tf_msg.transform.rotation.x    = 0;
+     578             :     tf_msg.transform.rotation.y    = 0;
+     579             :     tf_msg.transform.rotation.z    = 0;
+     580             :     tf_msg.transform.rotation.w    = 1;
+     581             : 
+     582             :     if (Support::noNans(tf_msg)) {
+     583             :       try {
+     584             :         static_broadcaster_.sendTransform(tf_msg);
+     585             :       }
+     586             :       catch (...) {
+     587             :         ROS_ERROR("exception caught ");
+     588             :       }
+     589             :     } else {
+     590             :       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(),
+     591             :                         tf_msg.child_frame_id.c_str());
+     592             :     }
+     593             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     594             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     595             :     is_world_static_tf_published_ = true;
+     596             :   }
+     597             :   /*//}*/
+     598             : 
+     599             :   /* republishInFrame() //{*/
+     600      155555 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     601             : 
+     602      311110 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     603             : 
+     604      155555 :     nav_msgs::Odometry msg_out = *msg;
+     605      155555 :     msg_out.header.frame_id    = frame_id;
+     606             : 
+     607      155555 :     geometry_msgs::PoseStamped pose;
+     608      155555 :     pose.header = msg->header;
+     609      155555 :     pose.pose   = msg->pose.pose;
+     610             : 
+     611      155555 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     612      155555 :     if (res) {
+     613      144685 :       msg_out.pose.pose = res->pose;
+     614      144685 :       ph.publish(msg_out);
+     615             :     } else {
+     616       10870 :       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());
+     617       10870 :       return;
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   /*//}*/
+     622             : };
+     623             : 
+     624             : /*//}*/
+     625             : 
+     626             : }  // namespace mrs_uav_managers
+     627             : 
+     628             : #endif
+
+
+
+ + + + +
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+
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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:19423283.6 %
Date:2024-10-08 22:31:24Functions:88100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)1
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)3
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()108
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)111
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2368
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&)2914
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)24217
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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 - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19423283.6 %
Date:2024-10-08 22:31:24Functions:88100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)111
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&)2914
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2368
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)3
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)24217
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)1
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()108
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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..e64ae6b27a --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html @@ -0,0 +1,716 @@ + + + + + + + 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:19423283.6 %
Date:2024-10-08 22:31:24Functions:88100.0 %
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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             : 
+      45             :   std::atomic<bool> is_initialized_ = false;
+      46             : 
+      47             :   // | ----------------------- parameters ----------------------- |
+      48             : 
+      49             :   std::vector<std::string> _estimator_type_names_;
+      50             : 
+      51             :   std::vector<std::string>                                       _constraint_names_;
+      52             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      53             : 
+      54             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      55             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      56             : 
+      57             :   // | --------------------- service clients -------------------- |
+      58             : 
+      59             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      60             : 
+      61             :   // | ----------------------- subscribers ---------------------- |
+      62             : 
+      63             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      64             : 
+      65             :   // | ------------- constraint management ------------- |
+      66             : 
+      67             :   bool setConstraints(std::string constraints_names);
+      68             : 
+      69             :   ros::ServiceServer service_server_set_constraints_;
+      70             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      71             : 
+      72             :   std::string last_estimator_name_;
+      73             :   std::mutex  mutex_last_estimator_name_;
+      74             : 
+      75             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      76             :   ros::Timer timer_constraint_management_;
+      77             :   double     _constraint_management_rate_;
+      78             : 
+      79             :   std::string current_constraints_;
+      80             :   std::mutex  mutex_current_constraints_;
+      81             : 
+      82             :   // | ------------------ constraints override ------------------ |
+      83             : 
+      84             :   ros::ServiceServer service_server_constraints_override_;
+      85             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      86             : 
+      87             :   std::atomic<bool>                    override_constraints_         = false;
+      88             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      89             :   std::mutex                           mutex_constraints_override_;
+      90             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      91             : 
+      92             :   // | ------------------ diagnostics publisher ----------------- |
+      93             : 
+      94             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      95             : 
+      96             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      97             :   ros::Timer timer_diagnostics_;
+      98             :   double     _diagnostics_rate_;
+      99             : 
+     100             :   // | ------------------------ profiler ------------------------ |
+     101             : 
+     102             :   mrs_lib::Profiler profiler_;
+     103             :   bool              _profiler_enabled_ = false;
+     104             : 
+     105             :   // | ------------------- scope timer logger ------------------- |
+     106             : 
+     107             :   bool                                       scope_timer_enabled_ = false;
+     108             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     109             : 
+     110             :   // | ------------------------- helpers ------------------------ |
+     111             : 
+     112             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     113             : };
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* //{ onInit() */
+     118             : 
+     119         108 : void ConstraintManager::onInit() {
+     120             : 
+     121         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     122             : 
+     123         108 :   ros::Time::waitForValid();
+     124             : 
+     125         108 :   ROS_INFO("[ConstraintManager]: initializing");
+     126             : 
+     127             :   // | ------------------------- params ------------------------- |
+     128             : 
+     129         216 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     130             : 
+     131         216 :   std::string custom_config_path;
+     132         216 :   std::string platform_config_path;
+     133             : 
+     134         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     135         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     136             : 
+     137         108 :   if (custom_config_path != "") {
+     138         108 :     param_loader.addYamlFile(custom_config_path);
+     139             :   }
+     140             : 
+     141         108 :   if (platform_config_path != "") {
+     142         108 :     param_loader.addYamlFile(platform_config_path);
+     143             :   }
+     144             : 
+     145         108 :   param_loader.addYamlFileFromParam("private_config");
+     146         108 :   param_loader.addYamlFileFromParam("public_config");
+     147         108 :   param_loader.addYamlFileFromParam("public_constraints");
+     148             : 
+     149         216 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     150             : 
+     151             :   // params passed from the launch file are not prefixed
+     152         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         108 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     155             : 
+     156         108 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     157             : 
+     158         108 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     159         108 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     160             : 
+     161         108 :   std::vector<std::string>::iterator it;
+     162             : 
+     163             :   // loading constraint names
+     164         432 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     165             : 
+     166         324 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     167             : 
+     168         324 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     169             : 
+     170         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     171         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     172         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     173         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     174             : 
+     175         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     176         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     177         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     178         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     179             : 
+     180         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     181         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     182         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     183         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     184             : 
+     185         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     186         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     187         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     188         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     189             : 
+     190         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     191         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     192         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     193             : 
+     194             :     double tilt_deg;
+     195             : 
+     196         324 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     197             : 
+     198         324 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     199             : 
+     200         324 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     201             :   }
+     202             : 
+     203             :   // loading the allowed constraints lists
+     204         864 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     205             : 
+     206         756 :     std::vector<std::string> temp_vector;
+     207         756 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     208             : 
+     209         756 :     std::vector<std::string>::iterator it2;
+     210        2796 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     211        2040 :       if (!stringInVector(*it2, _constraint_names_)) {
+     212           0 :         ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", it2->c_str(), it->c_str());
+     213           0 :         ros::shutdown();
+     214             :       }
+     215             :     }
+     216             : 
+     217         756 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     218             :   }
+     219             : 
+     220             :   // loading the default constraints
+     221         864 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     222             : 
+     223         756 :     std::string temp_str;
+     224         756 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     225             : 
+     226         756 :     if (!stringInVector(temp_str, _map_type_allowed_constraints_.at(*it))) {
+     227           0 :       ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", temp_str.c_str(), it->c_str());
+     228           0 :       ros::shutdown();
+     229             :     }
+     230             : 
+     231         756 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     232             :   }
+     233             : 
+     234         108 :   ROS_INFO("[ConstraintManager]: done loading dynamic params");
+     235             : 
+     236         108 :   current_constraints_ = "";
+     237         108 :   last_estimator_name_ = "";
+     238             : 
+     239             :   // | ------------------------ services ------------------------ |
+     240             : 
+     241         108 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     242             : 
+     243         108 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     244             : 
+     245         108 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     246             : 
+     247             :   // | ----------------------- subscribers ---------------------- |
+     248             : 
+     249         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     250         108 :   shopts.nh                 = nh_;
+     251         108 :   shopts.node_name          = "ConstraintManager";
+     252         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     253         108 :   shopts.threadsafe         = true;
+     254         108 :   shopts.autostart          = true;
+     255         108 :   shopts.queue_size         = 10;
+     256         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     257             : 
+     258         108 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     259             : 
+     260             :   // | ----------------------- publishers ----------------------- |
+     261             : 
+     262         108 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     263             : 
+     264             :   // | ------------------------- timers ------------------------- |
+     265             : 
+     266         108 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     267         108 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     268             : 
+     269             :   // | ------------------------ profiler ------------------------ |
+     270             : 
+     271         108 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     272             : 
+     273             :   // | ------------------- scope timer logger ------------------- |
+     274             : 
+     275         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     276         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     277         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     278             : 
+     279             :   // | ----------------------- finish init ---------------------- |
+     280             : 
+     281         108 :   if (!param_loader.loadedSuccessfully()) {
+     282           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     283           0 :     ros::shutdown();
+     284             :   }
+     285             : 
+     286         108 :   is_initialized_ = true;
+     287             : 
+     288         108 :   ROS_INFO("[ConstraintManager]: initialized");
+     289             : 
+     290         108 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     291         108 : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : // --------------------------------------------------------------
+     296             : // |                           methods                          |
+     297             : // --------------------------------------------------------------
+     298             : 
+     299             : /* setConstraints() //{ */
+     300             : 
+     301         111 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     302             : 
+     303         111 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     304         111 :   it = _constraints_.find(constraints_name);
+     305             : 
+     306         111 :   if (it == _constraints_.end()) {
+     307           0 :     ROS_ERROR("[ConstraintManager]: could not setConstraints(), the constraint name '%s' is not on the list", constraints_name.c_str());
+     308           0 :     return false;
+     309             :   }
+     310             : 
+     311         222 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     312             : 
+     313         111 :   srv_call.request = it->second;
+     314             : 
+     315         111 :   if (override_constraints_) {
+     316             : 
+     317           1 :     auto constraints_override = mrs_lib::get_mutexed(mutex_constraints_override_, constraints_override_);
+     318             : 
+     319           1 :     if (constraints_override.acceleration_horizontal > 0 &&
+     320           1 :         constraints_override.acceleration_horizontal <= srv_call.request.constraints.horizontal_acceleration) {
+     321           1 :       srv_call.request.constraints.horizontal_acceleration = constraints_override.acceleration_horizontal;
+     322             :     } else {
+     323           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required horizontal acceleration override is out of bounds");
+     324             :     }
+     325             : 
+     326           1 :     if (constraints_override.acceleration_vertical > 0 &&
+     327           1 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_ascending_acceleration &&
+     328           1 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_descending_acceleration) {
+     329           1 :       srv_call.request.constraints.vertical_ascending_acceleration  = constraints_override.acceleration_vertical;
+     330           1 :       srv_call.request.constraints.vertical_descending_acceleration = constraints_override.acceleration_vertical;
+     331             :     } else {
+     332           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required vertical acceleration override is out of bounds");
+     333             :     }
+     334             :   }
+     335             : 
+     336         111 :   bool res = sc_set_constraints_.call(srv_call);
+     337             : 
+     338         111 :   if (!res) {
+     339             : 
+     340           0 :     ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the service for setting constraints has failed!");
+     341           0 :     return false;
+     342             : 
+     343             :   } else {
+     344             : 
+     345         111 :     if (srv_call.response.success) {
+     346             : 
+     347         111 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     348         111 :       return true;
+     349             : 
+     350             :     } else {
+     351             : 
+     352           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: set service for setting constraints returned: '%s'", srv_call.response.message.c_str());
+     353           0 :       return false;
+     354             :     }
+     355             :   }
+     356             : }
+     357             : 
+     358             : //}
+     359             : 
+     360             : // --------------------------------------------------------------
+     361             : // |                          callbacks                         |
+     362             : // --------------------------------------------------------------
+     363             : 
+     364             : // | -------------------- service callbacks ------------------- |
+     365             : 
+     366             : /* //{ callbackSetConstraints() */
+     367             : 
+     368           3 : bool ConstraintManager::callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     369             : 
+     370           3 :   if (!is_initialized_) {
+     371           0 :     return false;
+     372             :   }
+     373             : 
+     374           6 :   std::stringstream ss;
+     375             : 
+     376           3 :   if (!sh_estimation_diag_.hasMsg()) {
+     377             : 
+     378           0 :     ss << "missing odometry diagnostics";
+     379             : 
+     380           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     381             : 
+     382           0 :     res.message = ss.str();
+     383           0 :     res.success = false;
+     384           0 :     return true;
+     385             :   }
+     386             : 
+     387           6 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     388             : 
+     389           3 :   if (!stringInVector(req.value, _constraint_names_)) {
+     390             : 
+     391           1 :     ss << "the constraints '" << req.value.c_str() << "' do not exist (in the ConstraintManager's config)";
+     392             : 
+     393           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     394             : 
+     395           1 :     res.message = ss.str();
+     396           1 :     res.success = false;
+     397           1 :     return true;
+     398             :   }
+     399             : 
+     400           2 :   if (!stringInVector(req.value, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     401             : 
+     402           0 :     ss << "the constraints '" << req.value.c_str() << "' are not allowed given the current odometry type";
+     403             : 
+     404           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     405             : 
+     406           0 :     res.message = ss.str();
+     407           0 :     res.success = false;
+     408           0 :     return true;
+     409             :   }
+     410             : 
+     411           2 :   override_constraints_ = false;
+     412             : 
+     413             :   // try to set the constraints
+     414           2 :   if (!setConstraints(req.value)) {
+     415             : 
+     416           0 :     ss << "the ControlManager could not set the constraints";
+     417             : 
+     418           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     419             : 
+     420           0 :     res.message = ss.str();
+     421           0 :     res.success = false;
+     422           0 :     return true;
+     423             : 
+     424             :   } else {
+     425             : 
+     426           2 :     ss << "the constraints '" << req.value.c_str() << "' were set";
+     427             : 
+     428           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     429             : 
+     430           2 :     res.message = ss.str();
+     431           2 :     res.success = true;
+     432           2 :     return true;
+     433             :   }
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* callackConstraintsOverride() //{ */
+     439             : 
+     440           1 : bool ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res) {
+     441             : 
+     442           1 :   if (!is_initialized_) {
+     443           0 :     return false;
+     444             :   }
+     445             : 
+     446             :   {
+     447           1 :     std::scoped_lock lock(mutex_constraints_override_);
+     448             : 
+     449           1 :     constraints_override_ = req;
+     450             :   }
+     451             : 
+     452           1 :   override_constraints_         = true;
+     453           1 :   constraints_override_updated_ = true;
+     454             : 
+     455           1 :   ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: setting constraints override");
+     456             : 
+     457           1 :   res.message = "override set";
+     458           1 :   res.success = true;
+     459             : 
+     460           1 :   return true;
+     461             : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : // --------------------------------------------------------------
+     466             : // |                           timers                           |
+     467             : // --------------------------------------------------------------
+     468             : 
+     469             : /* timerConstraintManagement() //{ */
+     470             : 
+     471       24217 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     472             : 
+     473       24217 :   if (!is_initialized_) {
+     474        5615 :     return;
+     475             :   }
+     476             : 
+     477       48434 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     478       48434 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     479             : 
+     480       24217 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     481       24217 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     482             : 
+     483       24217 :   if (!sh_estimation_diag_.hasMsg()) {
+     484        5615 :     return;
+     485             :   }
+     486             : 
+     487       18602 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     488             : 
+     489             :   // | --- automatically set constraints when the state estimator changes -- |
+     490       18602 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name_) {
+     491             : 
+     492         113 :     ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     493             :                       estimation_diagnostics->current_state_estimator.c_str());
+     494             : 
+     495         113 :     std::map<std::string, std::string>::iterator it;
+     496         113 :     it = _map_type_default_constraints_.find(estimation_diagnostics->current_state_estimator);
+     497             : 
+     498         113 :     if (it == _map_type_default_constraints_.end()) {
+     499             : 
+     500           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator type '%s' was not specified in the constraint_manager's config!",
+     501             :                         estimation_diagnostics->current_state_estimator.c_str());
+     502             : 
+     503             :     } else {
+     504             : 
+     505             :       // if the current constraints are within the allowed state estimator types, do nothing
+     506         113 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     507             : 
+     508           5 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     509             : 
+     510             :         // else, try to set the initial constraints
+     511             :       } else {
+     512             : 
+     513         108 :         ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the current constraints '%s' are not within the allowed constraints for '%s'", current_constraints.c_str(),
+     514             :                           estimation_diagnostics->current_state_estimator.c_str());
+     515             : 
+     516         108 :         if (setConstraints(it->second)) {
+     517             : 
+     518         108 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     519             : 
+     520         108 :           ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: constraints set to initial: '%s'", it->second.c_str());
+     521             : 
+     522             :         } else {
+     523             : 
+     524           0 :           ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not set constraints!");
+     525             :         }
+     526             :       }
+     527             :     }
+     528             :   }
+     529             : 
+     530       18602 :   if (constraints_override_updated_) {
+     531             : 
+     532           1 :     std::map<std::string, std::string>::iterator it;
+     533           1 :     it = _map_type_default_constraints_.find(last_estimator_name_);
+     534             : 
+     535           1 :     ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: re-setting constraints with user value override");
+     536             : 
+     537           1 :     if (setConstraints(it->second)) {
+     538           1 :       constraints_override_updated_ = false;
+     539             :     } else {
+     540           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not re-set the constraints!");
+     541             :     }
+     542             :   }
+     543             : 
+     544       18602 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* timerDiagnostics() //{ */
+     550             : 
+     551        2368 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     552             : 
+     553        2368 :   if (!is_initialized_) {
+     554         546 :     return;
+     555             :   }
+     556             : 
+     557        4736 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     558        4736 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     559             : 
+     560        2368 :   if (!sh_estimation_diag_.hasMsg()) {
+     561         546 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     562         546 :     return;
+     563             :   }
+     564             : 
+     565        1822 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     566             : 
+     567        1822 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     568             : 
+     569        1822 :   if (current_constraints == "") {  // this could happend just before timerConstraintManagement() finishes
+     570           0 :     return;
+     571             :   }
+     572             : 
+     573        1822 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     574             : 
+     575        1822 :   diagnostics.stamp        = ros::Time::now();
+     576        1822 :   diagnostics.current_name = current_constraints;
+     577        1822 :   diagnostics.loaded       = _constraint_names_;
+     578             : 
+     579             :   // get the available constraints
+     580             :   {
+     581        1822 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     582        1822 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics->current_state_estimator);
+     583             : 
+     584        1822 :     if (it == _map_type_allowed_constraints_.end()) {
+     585           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator '%s' was not specified in the constraint_manager's config!",
+     586             :                         estimation_diagnostics->current_state_estimator.c_str());
+     587             :     } else {
+     588        1822 :       diagnostics.available = it->second;
+     589             :     }
+     590             :   }
+     591             : 
+     592             :   // get the current constraint values
+     593             :   {
+     594        1822 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     595        1822 :     it = _constraints_.find(current_constraints);
+     596             : 
+     597        1822 :     if (it == _constraints_.end()) {
+     598           0 :       ROS_ERROR("[ConstraintManager]: current constraints '%s' not found in the constraint list!", current_constraints.c_str());
+     599           0 :       return;
+     600             :     }
+     601             : 
+     602        1822 :     diagnostics.current_values = it->second.constraints;
+     603             :   }
+     604             : 
+     605        1822 :   ph_diagnostics_.publish(diagnostics);
+     606             : }
+     607             : 
+     608             : //}
+     609             : 
+     610             : // --------------------------------------------------------------
+     611             : // |                          routines                          |
+     612             : // --------------------------------------------------------------
+     613             : 
+     614             : /* stringInVector() //{ */
+     615             : 
+     616        2914 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     617             : 
+     618        2914 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     619         109 :     return false;
+     620             :   } else {
+     621        2805 :     return true;
+     622             :   }
+     623             : }
+     624             : 
+     625             : //}
+     626             : 
+     627             : }  // namespace constraint_manager
+     628             : 
+     629             : }  // namespace mrs_uav_managers
+     630             : 
+     631             : #include <pluginlib/class_list_macros.h>
+     632         108 : 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..38d8adfdaf --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html @@ -0,0 +1,178 @@ + + + + + + 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 + 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..03e1afb2d1b810401174bd96ea12ced517ab36aa GIT binary patch literal 2195 zcmV;E2yFL>P);gK@$-!Vnj{XIjUG{3Xx(_-Y{YXEALuN$YLTwIgb@`QsF`q z)))}9Mq5{UCkXpYJ@x+o1meMzM1#Y7#$DI?zM<>+Fif<~+}{HbWm$mTmu6_Ww>Uk{ z1I9oC6e0yFNA(;LqdHG*_94!25YE``nk=;Dc!KdGM+;-Kb{U5n-zlwjm}Rv?CIZi~URO3y+dLXsc$a zlX0w+kfUr@c!pmmgp^w(ly{x9X6){qEFsxE&-5HzsYeq9`ABoH{u0^NF&{ji>5QOx?!A~NxbX}64t#(=w;7e;XP&1 zC1kkRs!dA(Lnr@gLTT6IOUSu;m@1m-D!P=Z-qyC1!S`t7P<1>4 z1MZC@RLrh7MKh%BqE2uM(8%MEeXfg40V&*O???l|p#WGX*Vk>9nbV=NcBxB$q3X>O zka#WivaWESu4!Gf{xcv{0yUW^1SbZ%4F#5rdY(2cak3Q@;5>0YV|7p2uOQ_lt^l<{fZJs&)!~N;2EIeMR)$;}k~#FzjL(5V8RPE^hX4 z;0RwK9(*JKV2kvrCmj`a5 zE2--za>#e~_=->WESqWdVC_`Ylhr;{guEV)_OL=i8wrOg{Qad=`0xqo90^2-Bs^T! z+;C-&3A7+0HNN2E3w)k>lm=2^+ZEn?+L%*#J`@;F(!?ItanY`iCp5J)K+3Mi>*pyn zwkNzc_6>vUhO0Y2CebWX##<9je6$ds#%(&RIOBD9fBMR%u5e;dmKD=xOm)rm6VgJy z5~hq4WdcCQJ=Lu6$|h1$Rq|k8BsRicSCK@zAHQ`0E!U$y|}B*I7E1jcs;M*e)MwVqosOWyRo-F z#X)#J#{}TjKCWRV?(yHAP>1+u#x)w$6*rT5&oK|jbDovVAorfi!QB?`2^E)jIY0cX zvx1bzdlo)yXx>r*x;-?*6Zan9HX*7)^HqX0IyC>n)yIHBvLp}J%`?9t4;LFd4TVBY z?U@vs7I?xtPr6h$`19&DI~vcTHsm)r+m992<2Ui zOC+DP%-|ZpSp|&W^broQE%Ao2D-6!`!Hb||7^)ldM-=Ui|J}sGd1wp^jt_+%nGNjx zbmf^fOEMqjR%L#a_~awMUnoUP zV^nABu{O-dDH_?a7U##cWbJdZDD3=Wn{nfJD#iu-z7k39WARXCJ_;`oMK!x}Tbd~@ zww|Xby)o4JK75{nZrScXfN705-yW4u2It^@y- z)yKW7xI=H|;j7!554GXS@)^toaq2rxeQxw+)`q&-0g&`qA-KmcKhDCN + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
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:23456741.3 %
Date:2024-10-08 22:31:24Functions:213167.7 %
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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::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::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double 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::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&)108
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&)563
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&)822
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&)1099
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&)1100
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&)1445
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&)1677
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&)2482
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3196
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&)3990
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&)4029
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&)10131
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14359
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&)14359
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14906
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&)88020
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&)101202
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&)110921
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&)119110
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&)151399
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)159355
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..2fa49e4220 --- /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:23456741.3 %
Date:2024-10-08 22:31:24Functions: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&)1677
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14906
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)159355
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3196
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&)151399
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&)10131
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double 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::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14359
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&)110921
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&)101202
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&)14359
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&)3990
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&)119110
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&)563
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&)822
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&)108
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&)1445
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&)88020
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&)4029
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&)1099
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&)2482
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&)1100
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..4f442b5eec --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1312 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
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:23456741.3 %
Date:2024-10-08 22:31:24Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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        1677 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        4755 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        4751 :     if (str == vec[i]) {
+      15        1673 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           4 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26      101202 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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      101202 :   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         822 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         822 :   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         822 :   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         822 :   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         822 :   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         822 :   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         822 :   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         822 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277       10131 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281       10131 :   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       10131 :   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       10131 :   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       10131 :   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       10131 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310      151399 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   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      151399 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        3196 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        3196 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        3196 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        3196 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        3196 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        2465 :     return 0.0;
+     473             :   }
+     474             : 
+     475         731 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         474 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         474 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         257 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         257 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495         108 : 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         216 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500         108 :   if (custom_config != "") {
+     501         108 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504         108 :   if (platform_config != "") {
+     505         108 :     param_loader.addYamlFile(platform_config);
+     506             :   }
+     507             : 
+     508             :   double mass;
+     509             :   double arm_length;
+     510             :   double body_height;
+     511             :   double force_constant;
+     512             :   double torque_constant;
+     513             :   double prop_radius;
+     514             :   double rpm_min;
+     515             :   double rpm_max;
+     516             : 
+     517         108 :   bool detailed_loaded = true;
+     518             : 
+     519         108 :   detailed_loaded *= param_loader.loadParam("uav_mass", mass, 0.0);
+     520             : 
+     521         108 :   detailed_loaded *= param_loader.loadParam("model_params/arm_length", arm_length, 0.0);
+     522         108 :   detailed_loaded *= param_loader.loadParam("model_params/body_height", body_height, 0.0);
+     523             : 
+     524         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/force_constant", force_constant, 0.0);
+     525         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant, 0.0);
+     526         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius, 0.0);
+     527         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min, 0.0);
+     528         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max, 0.0);
+     529             : 
+     530         216 :   Eigen::MatrixXd allocation_matrix;
+     531             : 
+     532         108 :   detailed_loaded *= param_loader.loadMatrixDynamic("model_params/propulsion/allocation_matrix", allocation_matrix, Eigen::Matrix4d::Identity(), 4, -1);
+     533             : 
+     534         108 :   if (!detailed_loaded) {
+     535           0 :     ROS_WARN(
+     536             :         "[%s]: detailed UAV model params not loaded, missing some parameters. This will not permit operations when ACTUATORS or CONTROL_GROUP control "
+     537             :         "outputs would be possible.",
+     538             :         node_name.c_str());
+     539           0 :     return {};
+     540             :   } else {
+     541         108 :     ROS_INFO("[%s]: detailed UAV model params successfully loaded.", node_name.c_str());
+     542             :   }
+     543             : 
+     544         108 :   int n_motors = allocation_matrix.cols();
+     545             : 
+     546         216 :   DetailedModelParams_t model_params;
+     547             : 
+     548         108 :   model_params.arm_length  = arm_length;
+     549         108 :   model_params.body_height = body_height;
+     550         108 :   model_params.prop_radius = prop_radius;
+     551             : 
+     552         108 :   Eigen::Matrix3d inertia_matrix;
+     553             : 
+     554         108 :   bool inertia_loaded = param_loader.loadMatrixStatic("model_params/inertia_matrix", inertia_matrix, Eigen::Matrix3d::Identity());
+     555             : 
+     556         108 :   if (inertia_loaded) {
+     557             : 
+     558           0 :     model_params.inertia = inertia_matrix;
+     559           0 :     ROS_INFO("[%s]: inertia matrix loaded from config file:", node_name.c_str());
+     560           0 :     ROS_INFO_STREAM(model_params.inertia);
+     561             : 
+     562             :   } else {
+     563             : 
+     564         108 :     ROS_INFO("[%s]: inertia matrix missing in the config file, computing it from the other params.", node_name.c_str());
+     565             : 
+     566             :     // create the inertia matrix
+     567         108 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     568         108 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     569         108 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     570         108 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     571             : 
+     572         108 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     573         108 :     ROS_INFO_STREAM(model_params.inertia);
+     574             :   }
+     575             : 
+     576             :   // create the force-torque allocation matrix
+     577         108 :   model_params.force_torque_mixer = allocation_matrix;
+     578         108 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     579         108 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     580         108 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     581         108 :   model_params.force_torque_mixer.row(3) *= force_constant;
+     582             : 
+     583             :   // | ------- create the control group allocation matrix ------- |
+     584             : 
+     585             :   // pseudoinverse of the force-torque matrix (maximum norm)
+     586             :   Eigen::MatrixXd alloc_tmp =
+     587         216 :       model_params.force_torque_mixer.transpose() * (model_params.force_torque_mixer * model_params.force_torque_mixer.transpose()).inverse();
+     588             : 
+     589             :   // | ------------- normalize the allocation matrix ------------ |
+     590             :   // this will make it match the PX4 control group mixing
+     591             : 
+     592             :   // the first two columns (roll, pitch)
+     593         546 :   for (int i = 0; i < n_motors; i++) {
+     594         438 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     595             :   }
+     596             : 
+     597             :   // the 3rd column (yaw)
+     598         546 :   for (int i = 0; i < n_motors; i++) {
+     599         438 :     if (alloc_tmp(i, 2) > 1e-2) {
+     600         219 :       alloc_tmp(i, 2) = 1.0;
+     601         219 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     602         219 :       alloc_tmp(i, 2) = -1.0;
+     603             :     } else {
+     604           0 :       alloc_tmp(i, 2) = 0.0;
+     605             :     }
+     606             :   }
+     607             : 
+     608             :   // the 4th column (throttle)
+     609         546 :   for (int i = 0; i < n_motors; i++) {
+     610         438 :     alloc_tmp(i, 3) = 1.0;
+     611             :   }
+     612             : 
+     613         108 :   model_params.control_group_mixer = alloc_tmp;
+     614             : 
+     615         108 :   return model_params;
+     616             : }
+     617             : 
+     618             : //}
+     619             : 
+     620             : /* getLowestOutput() //{ */
+     621             : 
+     622       14906 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     623             : 
+     624       14906 :   if (outputs.actuators) {
+     625          16 :     return ACTUATORS_CMD;
+     626             :   }
+     627             : 
+     628       14890 :   if (outputs.control_group) {
+     629          16 :     return CONTROL_GROUP;
+     630             :   }
+     631             : 
+     632       14874 :   if (outputs.attitude_rate) {
+     633       14768 :     return ATTITUDE_RATE;
+     634             :   }
+     635             : 
+     636         106 :   if (outputs.attitude) {
+     637          16 :     return ATTITUDE;
+     638             :   }
+     639             : 
+     640          90 :   if (outputs.acceleration_hdg_rate) {
+     641          10 :     return ACCELERATION_HDG_RATE;
+     642             :   }
+     643             : 
+     644          80 :   if (outputs.acceleration_hdg) {
+     645          10 :     return ACCELERATION_HDG;
+     646             :   }
+     647             : 
+     648          70 :   if (outputs.velocity_hdg_rate) {
+     649          40 :     return VELOCITY_HDG_RATE;
+     650             :   }
+     651             : 
+     652          30 :   if (outputs.velocity_hdg) {
+     653          20 :     return VELOCITY_HDG;
+     654             :   }
+     655             : 
+     656          10 :   return POSITION;
+     657             : }
+     658             : 
+     659             : //}
+     660             : 
+     661             : /* getHighestOutput() //{ */
+     662             : 
+     663           0 : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs) {
+     664             : 
+     665           0 :   if (outputs.position) {
+     666           0 :     return POSITION;
+     667             :   }
+     668             : 
+     669           0 :   if (outputs.velocity_hdg) {
+     670           0 :     return VELOCITY_HDG;
+     671             :   }
+     672             : 
+     673           0 :   if (outputs.velocity_hdg_rate) {
+     674           0 :     return VELOCITY_HDG_RATE;
+     675             :   }
+     676             : 
+     677           0 :   if (outputs.acceleration_hdg) {
+     678           0 :     return ACCELERATION_HDG;
+     679             :   }
+     680             : 
+     681           0 :   if (outputs.acceleration_hdg_rate) {
+     682           0 :     return ACCELERATION_HDG_RATE;
+     683             :   }
+     684             : 
+     685           0 :   if (outputs.attitude) {
+     686           0 :     return ATTITUDE;
+     687             :   }
+     688             : 
+     689           0 :   if (outputs.attitude_rate) {
+     690           0 :     return ATTITUDE_RATE;
+     691             :   }
+     692             : 
+     693           0 :   if (outputs.control_group) {
+     694           0 :     return CONTROL_GROUP;
+     695             :   }
+     696             : 
+     697           0 :   return ACTUATORS_CMD;
+     698             : }
+     699             : 
+     700             : //}
+     701             : 
+     702             : // | -------- extraction of throttle out of hw api cmds ------- |
+     703             : 
+     704             : /* extractThrottle() //{ */
+     705             : 
+     706      159355 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     707             : 
+     708      159355 :   if (!control_output.control_output) {
+     709       22960 :     return {};
+     710             :   }
+     711             : 
+     712      272790 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     713             : }
+     714             : 
+     715             : //}
+     716             : 
+     717             : // | -------------- validation of HW api commands ------------- |
+     718             : 
+     719             : /* validateControlOutput() //{ */
+     720             : 
+     721      110921 : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     722             :                            const std::string& var_name) {
+     723             : 
+     724      110921 :   if (!control_output.control_output) {
+     725           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+     726           0 :     return false;
+     727             :   }
+     728             : 
+     729      110921 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     730      221842 :   std::variant<std::string>               node_name_var{node_name};
+     731      110921 :   std::variant<std::string>               var_name_var{var_name};
+     732             : 
+     733      110921 :   return std::visit(HwApiValidateVisitor(), control_output.control_output.value(), output_modalities_var, node_name_var, var_name_var);
+     734             : }
+     735             : 
+     736             : //}
+     737             : 
+     738             : /* validateHwApiActuatorCmd() //{ */
+     739             : 
+     740        3990 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     741             : 
+     742       19950 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     743       15960 :     if (!std::isfinite(msg.motors[i])) {
+     744           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.motors[%d]'!!!", node_name.c_str(), var_name.c_str(), int(i));
+     745           0 :       return false;
+     746             :     }
+     747             :   }
+     748             : 
+     749        3990 :   return true;
+     750             : }
+     751             : 
+     752             : //}
+     753             : 
+     754             : /* validateHwApiControlGroupCmd() //{ */
+     755             : 
+     756        4029 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     757             : 
+     758        4029 :   if (!std::isfinite(msg.roll)) {
+     759           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.roll'!!!", node_name.c_str(), var_name.c_str());
+     760           0 :     return false;
+     761             :   }
+     762             : 
+     763        4029 :   if (!std::isfinite(msg.pitch)) {
+     764           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pitch'!!!", node_name.c_str(), var_name.c_str());
+     765           0 :     return false;
+     766             :   }
+     767             : 
+     768        4029 :   if (!std::isfinite(msg.yaw)) {
+     769           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.yaw'!!!", node_name.c_str(), var_name.c_str());
+     770           0 :     return false;
+     771             :   }
+     772             : 
+     773        4029 :   if (!std::isfinite(msg.throttle)) {
+     774           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     775           0 :     return false;
+     776             :   }
+     777             : 
+     778        4029 :   return true;
+     779             : }
+     780             : 
+     781             : //}
+     782             : 
+     783             : /* validateHwApiAttitudeCmd() //{ */
+     784             : 
+     785      119110 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     786             : 
+     787             :   // check the orientation
+     788             : 
+     789      119110 :   if (!std::isfinite(msg.orientation.x)) {
+     790           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     791           0 :     return false;
+     792             :   }
+     793             : 
+     794      119110 :   if (!std::isfinite(msg.orientation.y)) {
+     795           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     796           0 :     return false;
+     797             :   }
+     798             : 
+     799      119110 :   if (!std::isfinite(msg.orientation.z)) {
+     800           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     801           0 :     return false;
+     802             :   }
+     803             : 
+     804      119110 :   if (!std::isfinite(msg.orientation.w)) {
+     805           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     806           0 :     return false;
+     807             :   }
+     808             : 
+     809             :   // check the throttle
+     810             : 
+     811      119110 :   if (!std::isfinite(msg.throttle)) {
+     812           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     813           0 :     return false;
+     814             :   }
+     815             : 
+     816      119110 :   return true;
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : /* validateHwApiAttitudeRateCmd() //{ */
+     822             : 
+     823       88020 : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     824             : 
+     825             :   // check the body rate
+     826             : 
+     827       88020 :   if (!std::isfinite(msg.body_rate.x)) {
+     828           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     829           0 :     return false;
+     830             :   }
+     831             : 
+     832       88020 :   if (!std::isfinite(msg.body_rate.y)) {
+     833           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     834           0 :     return false;
+     835             :   }
+     836             : 
+     837       88020 :   if (!std::isfinite(msg.body_rate.z)) {
+     838           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     839           0 :     return false;
+     840             :   }
+     841             : 
+     842             :   // check the throttle
+     843             : 
+     844       88020 :   if (!std::isfinite(msg.throttle)) {
+     845           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     846           0 :     return false;
+     847             :   }
+     848             : 
+     849       88020 :   return true;
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     855             : 
+     856        1100 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     857             : 
+     858             :   // | ----------------- check the acceleration ----------------- |
+     859             : 
+     860        1100 :   if (!std::isfinite(msg.acceleration.x)) {
+     861           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     862           0 :     return false;
+     863             :   }
+     864             : 
+     865        1100 :   if (!std::isfinite(msg.acceleration.y)) {
+     866           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     867           0 :     return false;
+     868             :   }
+     869             : 
+     870        1100 :   if (!std::isfinite(msg.acceleration.z)) {
+     871           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     872           0 :     return false;
+     873             :   }
+     874             : 
+     875             :   // check the heading rate
+     876             : 
+     877        1100 :   if (!std::isfinite(msg.heading_rate)) {
+     878           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     879           0 :     return false;
+     880             :   }
+     881             : 
+     882        1100 :   return true;
+     883             : }
+     884             : 
+     885             : //}
+     886             : 
+     887             : /* validateHwApiAccelerationHdgCmd() //{ */
+     888             : 
+     889        1099 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     890             : 
+     891             :   // | ----------------- check the acceleration ----------------- |
+     892             : 
+     893        1099 :   if (!std::isfinite(msg.acceleration.x)) {
+     894           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     895           0 :     return false;
+     896             :   }
+     897             : 
+     898        1099 :   if (!std::isfinite(msg.acceleration.y)) {
+     899           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     900           0 :     return false;
+     901             :   }
+     902             : 
+     903        1099 :   if (!std::isfinite(msg.acceleration.z)) {
+     904           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     905           0 :     return false;
+     906             :   }
+     907             : 
+     908             :   // check the heading
+     909             : 
+     910        1099 :   if (!std::isfinite(msg.heading)) {
+     911           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     912           0 :     return false;
+     913             :   }
+     914             : 
+     915        1099 :   return true;
+     916             : }
+     917             : 
+     918             : //}
+     919             : 
+     920             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     921             : 
+     922        2482 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     923             : 
+     924             :   // | ----------------- check the velocity ----------------- |
+     925             : 
+     926        2482 :   if (!std::isfinite(msg.velocity.x)) {
+     927           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     928           0 :     return false;
+     929             :   }
+     930             : 
+     931        2482 :   if (!std::isfinite(msg.velocity.y)) {
+     932           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     933           0 :     return false;
+     934             :   }
+     935             : 
+     936        2482 :   if (!std::isfinite(msg.velocity.z)) {
+     937           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     938           0 :     return false;
+     939             :   }
+     940             : 
+     941             :   // check the heading rate
+     942             : 
+     943        2482 :   if (!std::isfinite(msg.heading_rate)) {
+     944           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     945           0 :     return false;
+     946             :   }
+     947             : 
+     948        2482 :   return true;
+     949             : }
+     950             : 
+     951             : //}
+     952             : 
+     953             : /* validateHwApiVelocityHdgCmd() //{ */
+     954             : 
+     955        1445 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     956             : 
+     957             :   // | ----------------- check the velocity ----------------- |
+     958             : 
+     959        1445 :   if (!std::isfinite(msg.velocity.x)) {
+     960           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     961           0 :     return false;
+     962             :   }
+     963             : 
+     964        1445 :   if (!std::isfinite(msg.velocity.y)) {
+     965           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     966           0 :     return false;
+     967             :   }
+     968             : 
+     969        1445 :   if (!std::isfinite(msg.velocity.z)) {
+     970           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     971           0 :     return false;
+     972             :   }
+     973             : 
+     974             :   // check the heading
+     975             : 
+     976        1445 :   if (!std::isfinite(msg.heading)) {
+     977           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     978           0 :     return false;
+     979             :   }
+     980             : 
+     981        1445 :   return true;
+     982             : }
+     983             : 
+     984             : //}
+     985             : 
+     986             : /* validateHwApiPositionHdgCmd() //{ */
+     987             : 
+     988         563 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     989             : 
+     990             :   // | ----------------- check the position ----------------- |
+     991             : 
+     992         563 :   if (!std::isfinite(msg.position.x)) {
+     993           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     994           0 :     return false;
+     995             :   }
+     996             : 
+     997         563 :   if (!std::isfinite(msg.position.y)) {
+     998           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     999           0 :     return false;
+    1000             :   }
+    1001             : 
+    1002         563 :   if (!std::isfinite(msg.position.z)) {
+    1003           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+    1004           0 :     return false;
+    1005             :   }
+    1006             : 
+    1007             :   // check the heading
+    1008             : 
+    1009         563 :   if (!std::isfinite(msg.heading)) {
+    1010           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+    1011           0 :     return false;
+    1012             :   }
+    1013             : 
+    1014         563 :   return true;
+    1015             : }
+    1016             : 
+    1017             : //}
+    1018             : 
+    1019             : // | ------------ initialization of HW api commands ----------- |
+    1020             : 
+    1021             : /* initializeDefaultOutput() //{ */
+    1022             : 
+    1023       14359 : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+    1024             :                                                        const double& min_throttle, const double& n_motors) {
+    1025             : 
+    1026       14359 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1027             : 
+    1028       14359 :   Controller::HwApiOutputVariant output;
+    1029             : 
+    1030       14359 :   switch (lowest_output) {
+    1031           0 :     case ACTUATORS_CMD: {
+    1032           0 :       output = mrs_msgs::HwApiActuatorCmd();
+    1033           0 :       break;
+    1034             :     }
+    1035           0 :     case CONTROL_GROUP: {
+    1036           0 :       output = mrs_msgs::HwApiControlGroupCmd();
+    1037           0 :       break;
+    1038             :     }
+    1039       14359 :     case ATTITUDE_RATE: {
+    1040       14359 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1041       14359 :       break;
+    1042             :     }
+    1043           0 :     case ATTITUDE: {
+    1044           0 :       output = mrs_msgs::HwApiAttitudeCmd();
+    1045           0 :       break;
+    1046             :     }
+    1047           0 :     case ACCELERATION_HDG_RATE: {
+    1048           0 :       output = mrs_msgs::HwApiAccelerationHdgRateCmd();
+    1049           0 :       break;
+    1050             :     }
+    1051           0 :     case ACCELERATION_HDG: {
+    1052           0 :       output = mrs_msgs::HwApiAccelerationHdgCmd();
+    1053           0 :       break;
+    1054             :     }
+    1055           0 :     case VELOCITY_HDG_RATE: {
+    1056           0 :       output = mrs_msgs::HwApiVelocityHdgRateCmd();
+    1057           0 :       break;
+    1058             :     }
+    1059           0 :     case VELOCITY_HDG: {
+    1060           0 :       output = mrs_msgs::HwApiVelocityHdgCmd();
+    1061           0 :       break;
+    1062             :     }
+    1063           0 :     case POSITION: {
+    1064           0 :       output = mrs_msgs::HwApiPositionCmd();
+    1065           0 :       break;
+    1066             :     }
+    1067             :   }
+    1068             : 
+    1069       28718 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1070       14359 :   std::variant<double>             min_throttle_var{min_throttle};
+    1071       14359 :   std::variant<double>             n_motors_var{n_motors};
+    1072             : 
+    1073       14359 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1074             : 
+    1075       28718 :   return output;
+    1076             : }
+    1077             : 
+    1078             : //}
+    1079             : 
+    1080             : /* initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg) //{ */
+    1081             : 
+    1082           0 : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors) {
+    1083             : 
+    1084           0 :   msg.stamp = ros::Time::now();
+    1085             : 
+    1086           0 :   for (int i = 0; i < n_motors; i++) {
+    1087           0 :     msg.motors.push_back(min_throttle);
+    1088             :   }
+    1089           0 : }
+    1090             : 
+    1091             : //}
+    1092             : 
+    1093             : /* initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg) //{ */
+    1094             : 
+    1095           0 : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle) {
+    1096             : 
+    1097           0 :   msg.stamp = ros::Time::now();
+    1098             : 
+    1099           0 :   msg.roll     = 0;
+    1100           0 :   msg.pitch    = 0;
+    1101           0 :   msg.yaw      = 0;
+    1102           0 :   msg.throttle = min_throttle;
+    1103           0 : }
+    1104             : 
+    1105             : //}
+    1106             : 
+    1107             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg) //{ */
+    1108             : 
+    1109       14359 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1110             : 
+    1111       14359 :   msg.stamp = ros::Time::now();
+    1112             : 
+    1113       14359 :   msg.body_rate.x = 0;
+    1114       14359 :   msg.body_rate.y = 0;
+    1115       14359 :   msg.body_rate.z = 0;
+    1116       14359 :   msg.throttle    = min_throttle;
+    1117       14359 : }
+    1118             : 
+    1119             : //}
+    1120             : 
+    1121             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1122             : 
+    1123           0 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1124             : 
+    1125           0 :   msg.stamp = ros::Time::now();
+    1126             : 
+    1127           0 :   msg.orientation = uav_state.pose.orientation;
+    1128           0 :   msg.throttle    = min_throttle;
+    1129           0 : }
+    1130             : 
+    1131             : //}
+    1132             : 
+    1133             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1134             : 
+    1135           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1136             : 
+    1137           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1138           0 :   msg.header.stamp    = ros::Time::now();
+    1139             : 
+    1140           0 :   msg.acceleration.x = 0;
+    1141           0 :   msg.acceleration.y = 0;
+    1142           0 :   msg.acceleration.z = 0;
+    1143           0 :   msg.heading_rate   = 0;
+    1144           0 : }
+    1145             : 
+    1146             : //}
+    1147             : 
+    1148             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1149             : 
+    1150           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1151             : 
+    1152           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1153           0 :   msg.header.stamp    = ros::Time::now();
+    1154             : 
+    1155           0 :   msg.acceleration.x = 0;
+    1156           0 :   msg.acceleration.y = 0;
+    1157           0 :   msg.acceleration.z = 0;
+    1158             : 
+    1159             :   try {
+    1160           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1161             :   }
+    1162           0 :   catch (std::runtime_error& exrun) {
+    1163           0 :     msg.heading = 0;
+    1164             :   }
+    1165           0 : }
+    1166             : 
+    1167             : //}
+    1168             : 
+    1169             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1170             : 
+    1171           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1172             : 
+    1173           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1174           0 :   msg.header.stamp    = ros::Time::now();
+    1175             : 
+    1176           0 :   msg.velocity.x   = 0;
+    1177           0 :   msg.velocity.y   = 0;
+    1178           0 :   msg.velocity.z   = 0;
+    1179           0 :   msg.heading_rate = 0;
+    1180           0 : }
+    1181             : 
+    1182             : //}
+    1183             : 
+    1184             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1185             : 
+    1186           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1187             : 
+    1188           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1189           0 :   msg.header.stamp    = ros::Time::now();
+    1190             : 
+    1191           0 :   msg.velocity.x = 0;
+    1192           0 :   msg.velocity.y = 0;
+    1193           0 :   msg.velocity.z = 0;
+    1194             : 
+    1195             :   try {
+    1196           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1197             :   }
+    1198           0 :   catch (std::runtime_error& exrun) {
+    1199           0 :     msg.heading = 0;
+    1200             :   }
+    1201           0 : }
+    1202             : 
+    1203             : //}
+    1204             : 
+    1205             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1206             : 
+    1207           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1208             : 
+    1209           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1210           0 :   msg.header.stamp    = ros::Time::now();
+    1211             : 
+    1212           0 :   msg.position.x = uav_state.pose.position.x;
+    1213           0 :   msg.position.y = uav_state.pose.position.y;
+    1214           0 :   msg.position.z = uav_state.pose.position.z;
+    1215             : 
+    1216             :   try {
+    1217           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1218             :   }
+    1219           0 :   catch (std::runtime_error& exrun) {
+    1220           0 :     msg.heading = 0;
+    1221             :   }
+    1222           0 : }
+    1223             : 
+    1224             : //}
+    1225             : 
+    1226             : }  // namespace control_manager
+    1227             : 
+    1228             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:23456741.3 %
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Test:MRS UAV System - Test coverage reportLines:23456741.3 %
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Test:MRS UAV System - Test coverage reportLines:23456741.3 %
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Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:9511284.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()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::callbackSetMinZ(mrs_msgs::Float64StampedSrvRequest_<std::allocator<void> >&, mrs_msgs::Float64StampedSrvResponse_<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::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::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)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::callbackUseSafetyArea(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<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::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceArraySrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)1
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArrayRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceArrayResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)2
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()4
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)6
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::elandSrv()8
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)12
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)15
mrs_uav_managers::control_manager::ControlManager::isOffboard()18
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)18
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)65
mrs_uav_managers::control_manager::ControlManager::ungripSrv()73
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)91
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)100
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)101
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)104
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::control_manager::ControlManager::initialize()108
mrs_uav_managers::control_manager::ControlManager::preinitialize()108
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)108
mrs_uav_managers::control_manager::ControlManager::onInit()108
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)109
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)111
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)130
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()153
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)181
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)212
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)213
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()226
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)244
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)245
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()277
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)380
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)428
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)482
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)540
mrs_uav_managers::control_manager::ControlManager::getMass()555
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)649
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)731
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)822
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)822
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)892
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1853
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2436
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9364
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9472
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9719
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13552
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13555
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)19002
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()19110
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19392
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24737
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)66666
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77670
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)138913
mrs_uav_managers::control_manager::ControlManager::updateTrackers()139435
mrs_uav_managers::control_manager::ControlManager::asyncControl()148748
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)149154
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)149154
mrs_uav_managers::control_manager::ControlManager::publish()149154
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172556
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)344898
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)443038
+
+
+ + + +
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..bf14d4ebed --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,528 @@ + + + + + + + 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:2548370268.8 %
Date:2024-10-08 22:31:24Functions:9511284.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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)649
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24737
mrs_uav_managers::control_manager::ControlManager::initialize()108
mrs_uav_managers::control_manager::ControlManager::isOffboard()18
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)482
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2436
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)344898
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)19002
mrs_uav_managers::control_manager::ControlManager::asyncControl()148748
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77670
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)101
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)65
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)130
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::preinitialize()108
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)244
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9719
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)66666
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
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&)108
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()139435
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> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackSetMinZ(mrs_msgs::Float64StampedSrvRequest_<std::allocator<void> >&, mrs_msgs::Float64StampedSrvResponse_<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> >&)4
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>)172556
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19392
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)245
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)104
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&)149154
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)12
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()153
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()19110
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)443038
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]()2
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> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)109
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)15
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)822
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)212
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)1
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&)9472
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1853
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()277
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)1
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)111
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)6
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)181
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()226
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)213
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)380
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)100
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)3
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> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9364
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&)892
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)149154
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)428
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)822
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)138913
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArrayRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceArrayResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)91
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceArraySrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)2
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)731
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)18
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()4
mrs_uav_managers::control_manager::ControlManager::onInit()108
mrs_uav_managers::control_manager::ControlManager::getMass()555
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13552
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13555
mrs_uav_managers::control_manager::ControlManager::publish()149154
mrs_uav_managers::control_manager::ControlManager::elandSrv()8
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::ungripSrv()73
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)540
+
+
+ + + +
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..0282b28a63 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,9009 @@ + + + + + + + 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:2548370268.8 %
Date:2024-10-08 22:31:24Functions:9511284.8 %
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/Float64StampedSrv.h>
+      16             : #include <mrs_msgs/ObstacleSectors.h>
+      17             : #include <mrs_msgs/BoolStamped.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/ValidateReferenceArray.h>
+      24             : #include <mrs_msgs/TrackerCommand.h>
+      25             : #include <mrs_msgs/EstimatorInput.h>
+      26             : 
+      27             : #include <geometry_msgs/Point32.h>
+      28             : #include <geometry_msgs/TwistStamped.h>
+      29             : #include <geometry_msgs/PoseArray.h>
+      30             : #include <geometry_msgs/Vector3Stamped.h>
+      31             : 
+      32             : #include <nav_msgs/Odometry.h>
+      33             : 
+      34             : #include <sensor_msgs/Joy.h>
+      35             : #include <sensor_msgs/NavSatFix.h>
+      36             : 
+      37             : #include <mrs_lib/safety_zone/safety_zone.h>
+      38             : #include <mrs_lib/profiler.h>
+      39             : #include <mrs_lib/param_loader.h>
+      40             : #include <mrs_lib/utils.h>
+      41             : #include <mrs_lib/mutex.h>
+      42             : #include <mrs_lib/transformer.h>
+      43             : #include <mrs_lib/geometry/misc.h>
+      44             : #include <mrs_lib/geometry/cyclic.h>
+      45             : #include <mrs_lib/attitude_converter.h>
+      46             : #include <mrs_lib/subscribe_handler.h>
+      47             : #include <mrs_lib/msg_extractor.h>
+      48             : #include <mrs_lib/quadratic_throttle_model.h>
+      49             : #include <mrs_lib/publisher_handler.h>
+      50             : #include <mrs_lib/service_client_handler.h>
+      51             : 
+      52             : #include <mrs_msgs/HwApiCapabilities.h>
+      53             : #include <mrs_msgs/HwApiStatus.h>
+      54             : #include <mrs_msgs/HwApiRcChannels.h>
+      55             : 
+      56             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      57             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      58             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      59             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      60             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      61             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      62             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      63             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      64             : #include <mrs_msgs/HwApiPositionCmd.h>
+      65             : 
+      66             : #include <std_msgs/Float64.h>
+      67             : 
+      68             : #include <future>
+      69             : 
+      70             : #include <pluginlib/class_loader.h>
+      71             : 
+      72             : #include <nodelet/loader.h>
+      73             : 
+      74             : #include <eigen3/Eigen/Eigen>
+      75             : 
+      76             : #include <visualization_msgs/Marker.h>
+      77             : #include <visualization_msgs/MarkerArray.h>
+      78             : 
+      79             : #include <mrs_msgs/Reference.h>
+      80             : #include <mrs_msgs/ReferenceStamped.h>
+      81             : #include <mrs_msgs/ReferenceArray.h>
+      82             : #include <mrs_msgs/TrajectoryReference.h>
+      83             : 
+      84             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      85             : #include <mrs_msgs/ReferenceStampedSrvRequest.h>
+      86             : #include <mrs_msgs/ReferenceStampedSrvResponse.h>
+      87             : 
+      88             : #include <mrs_msgs/VelocityReferenceStampedSrv.h>
+      89             : #include <mrs_msgs/VelocityReferenceStampedSrvRequest.h>
+      90             : #include <mrs_msgs/VelocityReferenceStampedSrvResponse.h>
+      91             : 
+      92             : #include <mrs_msgs/TransformReferenceSrv.h>
+      93             : #include <mrs_msgs/TransformReferenceSrvRequest.h>
+      94             : #include <mrs_msgs/TransformReferenceSrvResponse.h>
+      95             : 
+      96             : #include <mrs_msgs/TransformReferenceArraySrv.h>
+      97             : #include <mrs_msgs/TransformReferenceArraySrvRequest.h>
+      98             : #include <mrs_msgs/TransformReferenceArraySrvResponse.h>
+      99             : 
+     100             : #include <mrs_msgs/TransformPoseSrv.h>
+     101             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+     102             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+     103             : 
+     104             : #include <mrs_msgs/TransformVector3Srv.h>
+     105             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     106             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     107             : 
+     108             : #include <mrs_msgs/Float64StampedSrv.h>
+     109             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     110             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     111             : 
+     112             : #include <mrs_msgs/Vec4.h>
+     113             : #include <mrs_msgs/Vec4Request.h>
+     114             : #include <mrs_msgs/Vec4Response.h>
+     115             : 
+     116             : #include <mrs_msgs/Vec1.h>
+     117             : #include <mrs_msgs/Vec1Request.h>
+     118             : #include <mrs_msgs/Vec1Response.h>
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* defines //{ */
+     123             : 
+     124             : #define TAU 2 * M_PI
+     125             : #define REF_X 0
+     126             : #define REF_Y 1
+     127             : #define REF_Z 2
+     128             : #define REF_HEADING 3
+     129             : #define ELAND_STR "eland"
+     130             : #define EHOVER_STR "ehover"
+     131             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     132             : #define FAILSAFE_STR "failsafe"
+     133             : #define INPUT_UAV_STATE 0
+     134             : #define INPUT_ODOMETRY 1
+     135             : #define RC_DEADBAND 0.2
+     136             : 
+     137             : //}
+     138             : 
+     139             : /* using //{ */
+     140             : 
+     141             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     142             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     143             : 
+     144             : using radians  = mrs_lib::geometry::radians;
+     145             : using sradians = mrs_lib::geometry::sradians;
+     146             : 
+     147             : //}
+     148             : 
+     149             : namespace mrs_uav_managers
+     150             : {
+     151             : 
+     152             : namespace control_manager
+     153             : {
+     154             : 
+     155             : /* //{ class ControlManager */
+     156             : 
+     157             : // state machine
+     158             : typedef enum
+     159             : {
+     160             : 
+     161             :   IDLE_STATE,
+     162             :   LANDING_STATE,
+     163             : 
+     164             : } LandingStates_t;
+     165             : 
+     166             : const char* state_names[2] = {"IDLING", "LANDING"};
+     167             : 
+     168             : // state machine
+     169             : typedef enum
+     170             : {
+     171             : 
+     172             :   FCU_FRAME,
+     173             :   RELATIVE_FRAME,
+     174             :   ABSOLUTE_FRAME
+     175             : 
+     176             : } ReferenceFrameType_t;
+     177             : 
+     178             : // state machine
+     179             : typedef enum
+     180             : {
+     181             : 
+     182             :   ESC_NONE_STATE     = 0,
+     183             :   ESC_EHOVER_STATE   = 1,
+     184             :   ESC_ELAND_STATE    = 2,
+     185             :   ESC_FAILSAFE_STATE = 3,
+     186             :   ESC_FINISHED_STATE = 4,
+     187             : 
+     188             : } EscalatingFailsafeStates_t;
+     189             : 
+     190             : /* class ControllerParams() //{ */
+     191             : 
+     192             : class ControllerParams {
+     193             : 
+     194             : public:
+     195             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     196             :                    bool human_switchable);
+     197             : 
+     198             : public:
+     199             :   double      failsafe_threshold;
+     200             :   double      eland_threshold;
+     201             :   double      odometry_innovation_threshold;
+     202             :   std::string address;
+     203             :   std::string name_space;
+     204             :   bool        human_switchable;
+     205             : };
+     206             : 
+     207         540 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     208         540 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     209             : 
+     210         540 :   this->eland_threshold               = eland_threshold;
+     211         540 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     212         540 :   this->failsafe_threshold            = failsafe_threshold;
+     213         540 :   this->address                       = address;
+     214         540 :   this->name_space                    = name_space;
+     215         540 :   this->human_switchable              = human_switchable;
+     216         540 : }
+     217             : 
+     218             : //}
+     219             : 
+     220             : /* class TrackerParams() //{ */
+     221             : 
+     222             : class TrackerParams {
+     223             : 
+     224             : public:
+     225             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     226             : 
+     227             : public:
+     228             :   std::string address;
+     229             :   std::string name_space;
+     230             :   bool        human_switchable;
+     231             : };
+     232             : 
+     233         649 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     234             : 
+     235         649 :   this->address          = address;
+     236         649 :   this->name_space       = name_space;
+     237         649 :   this->human_switchable = human_switchable;
+     238         649 : }
+     239             : 
+     240             : //}
+     241             : 
+     242             : class ControlManager : public nodelet::Nodelet {
+     243             : 
+     244             : public:
+     245             :   virtual void onInit();
+     246             : 
+     247             : private:
+     248             :   ros::NodeHandle   nh_;
+     249             :   std::atomic<bool> is_initialized_ = false;
+     250             :   std::string       _uav_name_;
+     251             :   std::string       _body_frame_;
+     252             : 
+     253             :   std::string _custom_config_;
+     254             :   std::string _platform_config_;
+     255             :   std::string _world_config_;
+     256             :   std::string _network_config_;
+     257             : 
+     258             :   // | --------------- dynamic loading of trackers -------------- |
+     259             : 
+     260             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     261             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     262             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     263             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     264             :   std::mutex                                                         mutex_tracker_list_;
+     265             : 
+     266             :   // | ------------- dynamic loading of controllers ------------- |
+     267             : 
+     268             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     269             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     270             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     271             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     272             :   std::mutex                                                            mutex_controller_list_;
+     273             : 
+     274             :   // | ------------------------- HW API ------------------------- |
+     275             : 
+     276             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     277             : 
+     278             :   OutputPublisher control_output_publisher_;
+     279             : 
+     280             :   ControlOutputModalities_t _hw_api_inputs_;
+     281             : 
+     282             :   double desired_uav_state_rate_ = 100.0;
+     283             : 
+     284             :   // this timer will check till we already got the hardware api diagnostics
+     285             :   // then it will trigger the initialization of the controllers and finish
+     286             :   // the initialization of the ControlManager
+     287             :   ros::Timer timer_hw_api_capabilities_;
+     288             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     289             : 
+     290             :   void preinitialize(void);
+     291             :   void initialize(void);
+     292             : 
+     293             :   // | ------------ tracker and controller switching ------------ |
+     294             : 
+     295             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     296             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     297             : 
+     298             :   // the time of last switching of a tracker or a controller
+     299             :   ros::Time  controller_tracker_switch_time_;
+     300             :   std::mutex mutex_controller_tracker_switch_time_;
+     301             : 
+     302             :   // | -------------------- the transformer  -------------------- |
+     303             : 
+     304             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     305             : 
+     306             :   // | ------------------- scope timer logger ------------------- |
+     307             : 
+     308             :   bool                                       scope_timer_enabled_ = false;
+     309             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     310             : 
+     311             :   // | --------------------- general params --------------------- |
+     312             : 
+     313             :   // defines the type of state input: odometry or uav_state mesasge types
+     314             :   int _state_input_;
+     315             : 
+     316             :   // names of important trackers
+     317             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     318             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     319             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     320             : 
+     321             :   // names of important controllers
+     322             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     323             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     324             : 
+     325             :   // joystick control
+     326             :   bool        _joystick_enabled_ = false;
+     327             :   int         _joystick_mode_;
+     328             :   std::string _joystick_tracker_name_;
+     329             :   std::string _joystick_controller_name_;
+     330             :   std::string _joystick_fallback_tracker_name_;
+     331             :   std::string _joystick_fallback_controller_name_;
+     332             : 
+     333             :   // should disarm after emergancy landing?
+     334             :   bool _eland_disarm_enabled_ = false;
+     335             : 
+     336             :   // enabling the emergency handoff -> will disable eland and failsafe
+     337             :   bool _rc_emergency_handoff_ = false;
+     338             : 
+     339             :   // what throttle should be output when null tracker is active?
+     340             :   double _min_throttle_null_tracker_ = 0.0;
+     341             : 
+     342             :   // rates of all the timers
+     343             :   double _status_timer_rate_   = 0;
+     344             :   double _safety_timer_rate_   = 0;
+     345             :   double _elanding_timer_rate_ = 0;
+     346             :   double _failsafe_timer_rate_ = 0;
+     347             :   double _bumper_timer_rate_   = 0;
+     348             : 
+     349             :   bool _snap_trajectory_to_safety_area_ = false;
+     350             : 
+     351             :   // | -------------- uav_state/odometry subscriber ------------- |
+     352             : 
+     353             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     354             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     355             : 
+     356             :   mrs_msgs::UavState uav_state_;
+     357             :   mrs_msgs::UavState previous_uav_state_;
+     358             :   bool               got_uav_state_               = false;
+     359             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     360             :   double             uav_roll_                    = 0;
+     361             :   double             uav_pitch_                   = 0;
+     362             :   double             uav_yaw_                     = 0;
+     363             :   double             uav_heading_                 = 0;
+     364             :   std::mutex         mutex_uav_state_;
+     365             : 
+     366             :   // odometry hiccup detection
+     367             :   double uav_state_avg_dt_        = 1;
+     368             :   double uav_state_hiccup_factor_ = 1;
+     369             :   int    uav_state_count_         = 0;
+     370             : 
+     371             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     372             : 
+     373             :   // | -------------- safety area max z subscriber -------------- |
+     374             : 
+     375             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     376             : 
+     377             :   // | ------------- odometry innovation subscriber ------------- |
+     378             : 
+     379             :   // odometry innovation is published by the odometry node
+     380             :   // it is used to issue eland if the estimator's input is too wonky
+     381             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     382             : 
+     383             :   // | --------------------- common handlers -------------------- |
+     384             : 
+     385             :   // contains handlers that are shared with trackers and controllers
+     386             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     387             : 
+     388             :   // | --------------- tracker and controller IDs --------------- |
+     389             : 
+     390             :   // keeping track of currently active controllers and trackers
+     391             :   unsigned int active_tracker_idx_    = 0;
+     392             :   unsigned int active_controller_idx_ = 0;
+     393             : 
+     394             :   // indeces of some notable trackers
+     395             :   unsigned int _ehover_tracker_idx_               = 0;
+     396             :   unsigned int _landoff_tracker_idx_              = 0;
+     397             :   unsigned int _joystick_tracker_idx_             = 0;
+     398             :   unsigned int _joystick_controller_idx_          = 0;
+     399             :   unsigned int _failsafe_controller_idx_          = 0;
+     400             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     401             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     402             :   unsigned int _null_tracker_idx_                 = 0;
+     403             :   unsigned int _eland_controller_idx_             = 0;
+     404             : 
+     405             :   // | -------------- enabling the output publisher ------------- |
+     406             : 
+     407             :   void              toggleOutput(const bool& input);
+     408             :   std::atomic<bool> output_enabled_ = false;
+     409             : 
+     410             :   // | ----------------------- publishers ----------------------- |
+     411             : 
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     414             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     415             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     416             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     417             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     418             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     419             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     420             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_nominal_;
+     421             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     422             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     423             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     424             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     425             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     426             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     427             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     428             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     429             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     430             : 
+     431             :   // | --------------------- service servers -------------------- |
+     432             : 
+     433             :   ros::ServiceServer service_server_switch_tracker_;
+     434             :   ros::ServiceServer service_server_switch_controller_;
+     435             :   ros::ServiceServer service_server_reset_tracker_;
+     436             :   ros::ServiceServer service_server_hover_;
+     437             :   ros::ServiceServer service_server_ehover_;
+     438             :   ros::ServiceServer service_server_failsafe_;
+     439             :   ros::ServiceServer service_server_failsafe_escalating_;
+     440             :   ros::ServiceServer service_server_toggle_output_;
+     441             :   ros::ServiceServer service_server_arm_;
+     442             :   ros::ServiceServer service_server_enable_callbacks_;
+     443             :   ros::ServiceServer service_server_set_constraints_;
+     444             :   ros::ServiceServer service_server_use_joystick_;
+     445             :   ros::ServiceServer service_server_use_safety_area_;
+     446             :   ros::ServiceServer service_server_emergency_reference_;
+     447             :   ros::ServiceServer service_server_pirouette_;
+     448             :   ros::ServiceServer service_server_eland_;
+     449             :   ros::ServiceServer service_server_parachute_;
+     450             :   ros::ServiceServer service_server_set_min_z_;
+     451             : 
+     452             :   // human callbable services for references
+     453             :   ros::ServiceServer service_server_goto_;
+     454             :   ros::ServiceServer service_server_goto_fcu_;
+     455             :   ros::ServiceServer service_server_goto_relative_;
+     456             :   ros::ServiceServer service_server_goto_altitude_;
+     457             :   ros::ServiceServer service_server_set_heading_;
+     458             :   ros::ServiceServer service_server_set_heading_relative_;
+     459             : 
+     460             :   // the reference service and subscriber
+     461             :   ros::ServiceServer                                    service_server_reference_;
+     462             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     463             : 
+     464             :   // the velocity reference service and subscriber
+     465             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     466             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     467             : 
+     468             :   // trajectory tracking
+     469             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     470             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     471             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     472             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     473             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     474             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     475             : 
+     476             :   // transform service servers
+     477             :   ros::ServiceServer service_server_transform_reference_;
+     478             :   ros::ServiceServer service_server_transform_reference_array_;
+     479             :   ros::ServiceServer service_server_transform_pose_;
+     480             :   ros::ServiceServer service_server_transform_vector3_;
+     481             : 
+     482             :   // safety area services
+     483             :   ros::ServiceServer service_server_validate_reference_;
+     484             :   ros::ServiceServer service_server_validate_reference_2d_;
+     485             :   ros::ServiceServer service_server_validate_reference_array_;
+     486             : 
+     487             :   // bumper service servers
+     488             :   ros::ServiceServer service_server_bumper_enabler_;
+     489             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     490             : 
+     491             :   // service clients
+     492             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     493             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     494             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     495             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     496             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     497             : 
+     498             :   // safety area min z servers
+     499             :   ros::ServiceServer service_server_get_min_z_;
+     500             : 
+     501             :   // | --------- trackers' and controllers' last results -------- |
+     502             : 
+     503             :   // the last result of an active tracker
+     504             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     505             :   std::mutex                              mutex_last_tracker_cmd_;
+     506             : 
+     507             :   // the last result of an active controller
+     508             :   Controller::ControlOutput last_control_output_;
+     509             :   std::mutex                mutex_last_control_output_;
+     510             : 
+     511             :   // | -------------- HW API diagnostics subscriber ------------- |
+     512             : 
+     513             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     514             : 
+     515             :   bool offboard_mode_          = false;
+     516             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     517             :   bool armed_                  = false;
+     518             : 
+     519             :   // | -------------------- throttle and mass ------------------- |
+     520             : 
+     521             :   // throttle mass estimation during eland
+     522             :   double    throttle_mass_estimate_   = 0;
+     523             :   bool      throttle_under_threshold_ = false;
+     524             :   ros::Time throttle_mass_estimate_first_time_;
+     525             : 
+     526             :   // | ---------------------- safety params --------------------- |
+     527             : 
+     528             :   // failsafe when tilt error is too large
+     529             :   bool   _tilt_error_disarm_enabled_;
+     530             :   double _tilt_error_disarm_timeout_;
+     531             :   double _tilt_error_disarm_threshold_;
+     532             : 
+     533             :   ros::Time tilt_error_disarm_time_;
+     534             :   bool      tilt_error_disarm_over_thr_ = false;
+     535             : 
+     536             :   // elanding when tilt error is too large
+     537             :   bool   _tilt_limit_eland_enabled_;
+     538             :   double _tilt_limit_eland_ = 0;  // [rad]
+     539             : 
+     540             :   // disarming when tilt error is too large
+     541             :   bool   _tilt_limit_disarm_enabled_;
+     542             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     543             : 
+     544             :   // elanding when yaw error is too large
+     545             :   bool   _yaw_error_eland_enabled_;
+     546             :   double _yaw_error_eland_ = 0;  // [rad]
+     547             : 
+     548             :   // keeping track of control errors
+     549             :   std::optional<double> tilt_error_ = 0;
+     550             :   std::optional<double> yaw_error_  = 0;
+     551             :   std::mutex            mutex_attitude_error_;
+     552             : 
+     553             :   std::optional<Eigen::Vector3d> position_error_;
+     554             :   std::mutex                     mutex_position_error_;
+     555             : 
+     556             :   // control error for triggering failsafe, eland, etc.
+     557             :   // this filled with the current controllers failsafe threshold
+     558             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     559             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     560             :   bool   _odometry_innovation_check_enabled_ = false;
+     561             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     562             : 
+     563             :   bool callbacks_enabled_ = true;
+     564             : 
+     565             :   // | ------------------------ parachute ----------------------- |
+     566             : 
+     567             :   bool _parachute_enabled_ = false;
+     568             : 
+     569             :   std::tuple<bool, std::string> deployParachute(void);
+     570             :   bool                          parachuteSrv(void);
+     571             : 
+     572             :   // | ----------------------- safety area ---------------------- |
+     573             : 
+     574             :   // safety area
+     575             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     576             : 
+     577             :   std::atomic<bool> use_safety_area_ = false;
+     578             : 
+     579             :   std::string _safety_area_horizontal_frame_;
+     580             :   std::string _safety_area_vertical_frame_;
+     581             : 
+     582             :   std::atomic<double> _safety_area_min_z_ = 0;
+     583             : 
+     584             :   double _safety_area_max_z_ = 0;
+     585             : 
+     586             :   // safety area routines
+     587             :   // those are passed to trackers using the common_handlers object
+     588             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     589             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     590             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     591             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     592             :   double getMinZ(const std::string& frame_id);
+     593             :   double getMaxZ(const std::string& frame_id);
+     594             : 
+     595             :   // | ------------------------ callbacks ----------------------- |
+     596             : 
+     597             :   // topic callbacks
+     598             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     599             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     600             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     601             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     602             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     603             : 
+     604             :   // topic timeouts
+     605             :   void timeoutUavState(const double& missing_for);
+     606             : 
+     607             :   // switching controller and tracker services
+     608             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     609             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     610             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     611             : 
+     612             :   // reference callbacks
+     613             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     614             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     615             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     616             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     617             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     618             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     619             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     620             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     621             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     622             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     623             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     624             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     625             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     626             : 
+     627             :   // safety callbacks
+     628             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     634             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     635             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     636             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     637             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     638             :   bool callbackSetMinZ(mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res);
+     639             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     640             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     641             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     642             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     643             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     644             : 
+     645             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     646             : 
+     647             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     648             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     649             :   bool callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArray::Request& req, mrs_msgs::ValidateReferenceArray::Response& res);
+     650             : 
+     651             :   // transformation callbacks
+     652             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     653             :   bool callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrv::Request& req, mrs_msgs::TransformReferenceArraySrv::Response& res);
+     654             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     655             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     656             : 
+     657             :   // | ----------------------- constraints ---------------------- |
+     658             : 
+     659             :   // sets constraints to all trackers
+     660             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     661             : 
+     662             :   // constraints management
+     663             :   bool              got_constraints_ = false;
+     664             :   std::mutex        mutex_constraints_;
+     665             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     666             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     667             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     668             :   std::atomic<bool> constraints_being_enforced_ = false;
+     669             : 
+     670             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     671             : 
+     672             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     673             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     674             : 
+     675             :   // | ------------------ emergency triggered? ------------------ |
+     676             : 
+     677             :   std::atomic<bool> failsafe_triggered_ = false;
+     678             :   std::atomic<bool> eland_triggered_    = false;
+     679             : 
+     680             :   // | ------------------------- timers ------------------------- |
+     681             : 
+     682             :   // timer for regular status publishing
+     683             :   ros::Timer timer_status_;
+     684             :   void       timerStatus(const ros::TimerEvent& event);
+     685             : 
+     686             :   // timer for issuing the failsafe landing
+     687             :   ros::Timer timer_failsafe_;
+     688             :   void       timerFailsafe(const ros::TimerEvent& event);
+     689             : 
+     690             :   // oneshot timer for running controllers and trackers
+     691             :   void              asyncControl(void);
+     692             :   std::atomic<bool> running_async_control_ = false;
+     693             :   std::future<void> async_control_result_;
+     694             : 
+     695             :   // timer for issuing emergancy landing
+     696             :   ros::Timer timer_eland_;
+     697             :   void       timerEland(const ros::TimerEvent& event);
+     698             : 
+     699             :   // timer for regular checking of controller errors
+     700             :   ros::Timer        timer_safety_;
+     701             :   void              timerSafety(const ros::TimerEvent& event);
+     702             :   std::atomic<bool> running_safety_timer_        = false;
+     703             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     704             : 
+     705             :   // timer for issuing the pirouette
+     706             :   ros::Timer timer_pirouette_;
+     707             :   void       timerPirouette(const ros::TimerEvent& event);
+     708             : 
+     709             :   // | --------------------- obstacle bumper -------------------- |
+     710             : 
+     711             :   // bumper timer
+     712             :   ros::Timer timer_bumper_;
+     713             :   void       timerBumper(const ros::TimerEvent& event);
+     714             : 
+     715             :   // bumper subscriber
+     716             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     717             : 
+     718             :   bool        _bumper_switch_tracker_    = false;
+     719             :   bool        _bumper_switch_controller_ = false;
+     720             :   std::string _bumper_tracker_name_;
+     721             :   std::string _bumper_controller_name_;
+     722             :   std::string bumper_previous_tracker_;
+     723             :   std::string bumper_previous_controller_;
+     724             : 
+     725             :   std::atomic<bool> bumper_enabled_   = false;
+     726             :   std::atomic<bool> bumper_repulsing_ = false;
+     727             : 
+     728             :   bool _bumper_horizontal_derive_from_dynamics_;
+     729             :   bool _bumper_vertical_derive_from_dynamics_;
+     730             : 
+     731             :   double _bumper_horizontal_distance_ = 0;
+     732             :   double _bumper_vertical_distance_   = 0;
+     733             : 
+     734             :   double _bumper_horizontal_overshoot_ = 0;
+     735             :   double _bumper_vertical_overshoot_   = 0;
+     736             : 
+     737             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     738             :   void bumperPushFromObstacle(void);
+     739             : 
+     740             :   // | --------------- safety checks and failsafes -------------- |
+     741             : 
+     742             :   // escalating failsafe (eland -> failsafe -> disarm)
+     743             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     744             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     745             :   double                     _escalating_failsafe_timeout_         = 0;
+     746             :   ros::Time                  escalating_failsafe_time_;
+     747             :   bool                       _escalating_failsafe_ehover_   = false;
+     748             :   bool                       _escalating_failsafe_eland_    = false;
+     749             :   bool                       _escalating_failsafe_failsafe_ = false;
+     750             :   double                     _rc_escalating_failsafe_threshold_;
+     751             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     752             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     753             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     754             : 
+     755             :   std::string _tracker_error_action_;
+     756             : 
+     757             :   // emergancy landing state machine
+     758             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     759             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     760             :   std::mutex      mutex_landing_state_machine_;
+     761             :   void            changeLandingState(LandingStates_t new_state);
+     762             :   double          _uav_mass_ = 0;
+     763             :   double          _elanding_cutoff_mass_factor_;
+     764             :   double          _elanding_cutoff_timeout_;
+     765             :   double          landing_uav_mass_ = 0;
+     766             : 
+     767             :   // initial body disturbance loaded from params
+     768             :   double _initial_body_disturbance_x_ = 0;
+     769             :   double _initial_body_disturbance_y_ = 0;
+     770             : 
+     771             :   // profiling
+     772             :   mrs_lib::Profiler profiler_;
+     773             :   bool              _profiler_enabled_ = false;
+     774             : 
+     775             :   // diagnostics publishing
+     776             :   void       publishDiagnostics(void);
+     777             :   std::mutex mutex_diagnostics_;
+     778             : 
+     779             :   void                                             ungripSrv(void);
+     780             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     781             : 
+     782             :   bool isFlyingNormally(void);
+     783             : 
+     784             :   // | ------------------------ pirouette ----------------------- |
+     785             : 
+     786             :   bool       _pirouette_enabled_ = false;
+     787             :   double     _pirouette_speed_;
+     788             :   double     _pirouette_timer_rate_;
+     789             :   std::mutex mutex_pirouette_;
+     790             :   double     pirouette_initial_heading_;
+     791             :   double     pirouette_iterator_;
+     792             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     793             : 
+     794             :   // | -------------------- joystick control -------------------- |
+     795             : 
+     796             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     797             : 
+     798             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     799             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     800             : 
+     801             :   // joystick buttons mappings
+     802             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     803             : 
+     804             :   // channel numbers and channel multipliers
+     805             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     806             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     807             : 
+     808             :   ros::Timer timer_joystick_;
+     809             :   void       timerJoystick(const ros::TimerEvent& event);
+     810             :   double     _joystick_timer_rate_ = 0;
+     811             : 
+     812             :   double _joystick_carrot_distance_ = 0;
+     813             : 
+     814             :   ros::Time joystick_start_press_time_;
+     815             :   bool      joystick_start_pressed_ = false;
+     816             : 
+     817             :   ros::Time joystick_back_press_time_;
+     818             :   bool      joystick_back_pressed_ = false;
+     819             :   bool      joystick_goto_enabled_ = false;
+     820             : 
+     821             :   bool      joystick_failsafe_pressed_ = false;
+     822             :   ros::Time joystick_failsafe_press_time_;
+     823             : 
+     824             :   bool      joystick_eland_pressed_ = false;
+     825             :   ros::Time joystick_eland_press_time_;
+     826             : 
+     827             :   // | ------------------- RC joystick control ------------------ |
+     828             : 
+     829             :   // listening to the RC channels as told by pixhawk
+     830             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     831             : 
+     832             :   // the RC channel mapping of the main 4 control signals
+     833             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     834             : 
+     835             :   bool              _rc_goto_enabled_               = false;
+     836             :   std::atomic<bool> rc_goto_active_                 = false;
+     837             :   double            rc_joystick_channel_last_value_ = 0.5;
+     838             :   bool              rc_joystick_channel_was_low_    = false;
+     839             :   int               _rc_joystick_channel_           = 0;
+     840             : 
+     841             :   double _rc_horizontal_speed_ = 0;
+     842             :   double _rc_vertical_speed_   = 0;
+     843             :   double _rc_heading_rate_     = 0;
+     844             : 
+     845             :   // | ------------------- trajectory loading ------------------- |
+     846             : 
+     847             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     848             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     849             : 
+     850             :   // | --------------------- other routines --------------------- |
+     851             : 
+     852             :   // this is called to update the trackers and to receive position control command from the active one
+     853             :   void updateTrackers(void);
+     854             : 
+     855             :   // this is called to update the controllers and to receive attitude control command from the active one
+     856             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     857             : 
+     858             :   // sets the reference to the active tracker
+     859             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     860             : 
+     861             :   // sets the velocity reference to the active tracker
+     862             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     863             : 
+     864             :   // sets the reference trajectory to the active tracker
+     865             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     866             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     867             : 
+     868             :   // publishes
+     869             :   void publish(void);
+     870             : 
+     871             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     872             : 
+     873             :   double getMass(void);
+     874             : 
+     875             :   // publishes rviz-visualizable control reference
+     876             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     877             : 
+     878             :   void initializeControlOutput(void);
+     879             : 
+     880             :   // tell the mrs_odometry to disable its callbacks
+     881             :   void odometryCallbacksSrv(const bool input);
+     882             : 
+     883             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     884             : 
+     885             :   void                          setCallbacks(bool in);
+     886             :   bool                          isOffboard(void);
+     887             :   bool                          elandSrv(void);
+     888             :   std::tuple<bool, std::string> arming(const bool input);
+     889             : 
+     890             :   // safety functions impl
+     891             :   std::tuple<bool, std::string> ehover(void);
+     892             :   std::tuple<bool, std::string> hover(void);
+     893             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     894             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     895             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     896             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     897             :   std::tuple<bool, std::string> eland(void);
+     898             :   std::tuple<bool, std::string> failsafe(void);
+     899             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     900             : 
+     901             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     902             : };
+     903             : 
+     904             : //}
+     905             : 
+     906             : /* //{ onInit() */
+     907             : 
+     908         108 : void ControlManager::onInit() {
+     909         108 :   preinitialize();
+     910         108 : }
+     911             : 
+     912             : //}
+     913             : 
+     914             : /* preinitialize() //{ */
+     915             : 
+     916         108 : void ControlManager::preinitialize(void) {
+     917             : 
+     918         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     919             : 
+     920         108 :   ros::Time::waitForValid();
+     921             : 
+     922         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     923         108 :   shopts.nh                 = nh_;
+     924         108 :   shopts.node_name          = "ControlManager";
+     925         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     926         108 :   shopts.threadsafe         = true;
+     927         108 :   shopts.autostart          = true;
+     928         108 :   shopts.queue_size         = 10;
+     929         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     930             : 
+     931         108 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     932             : 
+     933         108 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     934         108 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* initialize() //{ */
+     939             : 
+     940         108 : void ControlManager::initialize(void) {
+     941             : 
+     942         108 :   joystick_start_press_time_      = ros::Time(0);
+     943         108 :   joystick_failsafe_press_time_   = ros::Time(0);
+     944         108 :   joystick_eland_press_time_      = ros::Time(0);
+     945         108 :   escalating_failsafe_time_       = ros::Time(0);
+     946         108 :   controller_tracker_switch_time_ = ros::Time(0);
+     947             : 
+     948         108 :   ROS_INFO("[ControlManager]: initializing");
+     949             : 
+     950             :   // --------------------------------------------------------------
+     951             :   // |         common handler for trackers and controllers        |
+     952             :   // --------------------------------------------------------------
+     953             : 
+     954         108 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     955             : 
+     956             :   // --------------------------------------------------------------
+     957             :   // |                           params                           |
+     958             :   // --------------------------------------------------------------
+     959             : 
+     960         216 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     961             : 
+     962         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     963         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     964         108 :   param_loader.loadParam("world_config", _world_config_);
+     965         108 :   param_loader.loadParam("network_config", _network_config_);
+     966             : 
+     967         108 :   if (_custom_config_ != "") {
+     968         108 :     param_loader.addYamlFile(_custom_config_);
+     969             :   }
+     970             : 
+     971         108 :   if (_platform_config_ != "") {
+     972         108 :     param_loader.addYamlFile(_platform_config_);
+     973             :   }
+     974             : 
+     975         108 :   if (_world_config_ != "") {
+     976         108 :     param_loader.addYamlFile(_world_config_);
+     977             :   }
+     978             : 
+     979         108 :   if (_network_config_ != "") {
+     980         108 :     param_loader.addYamlFile(_network_config_);
+     981             :   }
+     982             : 
+     983         108 :   param_loader.addYamlFileFromParam("private_config");
+     984         108 :   param_loader.addYamlFileFromParam("public_config");
+     985         108 :   param_loader.addYamlFileFromParam("private_trackers");
+     986         108 :   param_loader.addYamlFileFromParam("private_controllers");
+     987         108 :   param_loader.addYamlFileFromParam("public_controllers");
+     988             : 
+     989             :   // params passed from the launch file are not prefixed
+     990         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     991         108 :   param_loader.loadParam("body_frame", _body_frame_);
+     992         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     993         108 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     994         108 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     995         108 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     996         108 :   param_loader.loadParam("g", common_handlers_->g);
+     997             : 
+     998             :   // motor params are also not prefixed, since they are common to more nodes
+     999         108 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+    1000         108 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+    1001         108 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+    1002             : 
+    1003             :   // | ----------------------- safety area ---------------------- |
+    1004             : 
+    1005             :   bool use_safety_area;
+    1006         108 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1007         108 :   use_safety_area_ = use_safety_area;
+    1008             : 
+    1009         108 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1010             : 
+    1011         108 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1012         108 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1013             : 
+    1014             :   {
+    1015             :     double temp;
+    1016         108 :     param_loader.loadParam("safety_area/vertical/min_z", temp);
+    1017             : 
+    1018         108 :     _safety_area_min_z_ = temp;
+    1019             :   }
+    1020             : 
+    1021         108 :   if (use_safety_area_) {
+    1022             : 
+    1023         258 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1024             : 
+    1025             :     try {
+    1026             : 
+    1027         172 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1028          86 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1029             : 
+    1030          86 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1031             :     }
+    1032             : 
+    1033           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1034           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1035           0 :       ros::shutdown();
+    1036             :     }
+    1037           0 :     catch (...) {
+    1038           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1039           0 :       ros::shutdown();
+    1040             :     }
+    1041             : 
+    1042          86 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1043             :   }
+    1044             : 
+    1045         108 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1046             : 
+    1047         108 :   param_loader.loadParam("state_input", _state_input_);
+    1048             : 
+    1049         108 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1050           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1051           0 :     ros::shutdown();
+    1052             :   }
+    1053             : 
+    1054         108 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1055         108 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1056         108 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1057             : 
+    1058         108 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1059         108 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1060         108 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1061         108 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1062         108 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1063             : 
+    1064         108 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1065         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1066         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1067         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1068         108 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1069         108 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1070         108 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1071         108 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1072             : 
+    1073         108 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1074         108 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1075             : 
+    1076         108 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1077             : 
+    1078         108 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1079           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1080           0 :     ros::shutdown();
+    1081             :   }
+    1082             : 
+    1083         108 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1084         108 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1085             : 
+    1086         108 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1087             : 
+    1088         108 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1089           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1090           0 :     ros::shutdown();
+    1091             :   }
+    1092             : 
+    1093         108 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1094         108 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1095             : 
+    1096         108 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1097             : 
+    1098         108 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1099           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1100           0 :     ros::shutdown();
+    1101             :   }
+    1102             : 
+    1103         108 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1104         108 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1105         108 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1106         108 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1107             : 
+    1108         108 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1109         108 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1110             : 
+    1111         108 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1112         108 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1113         108 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1114             : 
+    1115         108 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1116             : 
+    1117         108 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1118           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1119           0 :     ros::shutdown();
+    1120             :   }
+    1121             : 
+    1122             :   // default constraints
+    1123             : 
+    1124         108 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1125         108 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1126         108 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1127         108 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1128             : 
+    1129         108 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1130         108 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1131         108 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1132         108 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1133             : 
+    1134         108 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1135         108 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1136         108 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1137         108 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1138             : 
+    1139         108 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1140         108 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1141         108 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1142         108 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1143             : 
+    1144         108 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1145         108 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1146         108 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1147             : 
+    1148         108 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1149             : 
+    1150         108 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1151             : 
+    1152             :   // joystick
+    1153             : 
+    1154         108 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1155         108 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1156         108 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1157         108 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1158         108 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1159         108 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1160         108 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1161         108 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1162             : 
+    1163         108 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1164         108 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1165         108 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1166         108 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1167         108 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1168         108 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1169         108 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1170         108 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1171         108 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1172         108 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1173             : 
+    1174             :   // load channels
+    1175         108 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1176         108 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1177         108 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1178         108 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1179             : 
+    1180             :   // load channel multipliers
+    1181         108 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1182         108 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1183         108 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1184         108 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1185             : 
+    1186             :   bool bumper_enabled;
+    1187         108 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1188         108 :   bumper_enabled_ = bumper_enabled;
+    1189             : 
+    1190         108 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1191         108 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1192         108 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1193         108 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1194         108 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1195             : 
+    1196         108 :   param_loader.loadParam("obstacle_bumper/horizontal/min_distance_to_obstacle", _bumper_horizontal_distance_);
+    1197         108 :   param_loader.loadParam("obstacle_bumper/horizontal/derived_from_dynamics", _bumper_horizontal_derive_from_dynamics_);
+    1198             : 
+    1199         108 :   param_loader.loadParam("obstacle_bumper/vertical/min_distance_to_obstacle", _bumper_vertical_distance_);
+    1200         108 :   param_loader.loadParam("obstacle_bumper/vertical/derived_from_dynamics", _bumper_vertical_derive_from_dynamics_);
+    1201             : 
+    1202         108 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1203         108 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1204             : 
+    1205         108 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1206             : 
+    1207         108 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1208             : 
+    1209             :   // check the values of tracker error action
+    1210         108 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1211           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1212             :               EHOVER_STR);
+    1213           0 :     ros::shutdown();
+    1214             :   }
+    1215             : 
+    1216         108 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1217         108 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1218         108 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1219         108 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1220         108 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1221             : 
+    1222         108 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1223         108 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1224         108 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1225         108 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1226             : 
+    1227         108 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1228         108 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1229             : 
+    1230         108 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1231             : 
+    1232             :   // --------------------------------------------------------------
+    1233             :   // |             initialize the last control output             |
+    1234             :   // --------------------------------------------------------------
+    1235             : 
+    1236         108 :   initializeControlOutput();
+    1237             : 
+    1238             :   // | --------------------- tf transformer --------------------- |
+    1239             : 
+    1240         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1241         108 :   transformer_->setDefaultPrefix(_uav_name_);
+    1242         108 :   transformer_->retryLookupNewest(true);
+    1243             : 
+    1244             :   // | ------------------- scope timer logger ------------------- |
+    1245             : 
+    1246         108 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1247         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1248         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1249             : 
+    1250             :   // bind transformer to trackers and controllers for use
+    1251         108 :   common_handlers_->transformer = transformer_;
+    1252             : 
+    1253             :   // bind scope timer to trackers and controllers for use
+    1254         108 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1255         108 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1256             : 
+    1257         108 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1258         108 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1259         108 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1260         108 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1261         108 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1262             : 
+    1263         108 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1264             : 
+    1265         108 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1266             : 
+    1267         108 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1268             : 
+    1269         108 :   common_handlers_->uav_name = _uav_name_;
+    1270             : 
+    1271         108 :   common_handlers_->parent_nh = nh_;
+    1272             : 
+    1273             :   // --------------------------------------------------------------
+    1274             :   // |                        load trackers                       |
+    1275             :   // --------------------------------------------------------------
+    1276             : 
+    1277         216 :   std::vector<std::string> custom_trackers;
+    1278             : 
+    1279         108 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1280         108 :   param_loader.loadParam("trackers", custom_trackers);
+    1281             : 
+    1282         108 :   if (!custom_trackers.empty()) {
+    1283           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1284             :   }
+    1285             : 
+    1286         108 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1287         108 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1288             : 
+    1289         108 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1290             : 
+    1291         757 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1292             : 
+    1293        1298 :     std::string tracker_name = _tracker_names_.at(i);
+    1294             : 
+    1295             :     // load the controller parameters
+    1296        1298 :     std::string address;
+    1297        1298 :     std::string name_space;
+    1298             :     bool        human_switchable;
+    1299             : 
+    1300         649 :     param_loader.loadParam(tracker_name + "/address", address);
+    1301         649 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1302         649 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1303             : 
+    1304        1947 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1305         649 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1306             : 
+    1307             :     try {
+    1308         649 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1309         649 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1310             :     }
+    1311           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1312           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1313           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1314           0 :       ros::shutdown();
+    1315             :     }
+    1316           0 :     catch (pluginlib::PluginlibException& ex) {
+    1317           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1318           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1319           0 :       ros::shutdown();
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323         108 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1324             : 
+    1325         757 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1326             : 
+    1327         649 :     std::map<std::string, TrackerParams>::iterator it;
+    1328         649 :     it = trackers_.find(_tracker_names_.at(i));
+    1329             : 
+    1330             :     // create private handlers
+    1331             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1332        1298 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1333             : 
+    1334         649 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1335         649 :     private_handlers->name_space     = it->second.name_space;
+    1336         649 :     private_handlers->runtime_name   = _tracker_names_.at(i);
+    1337         649 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_.at(i));
+    1338             : 
+    1339         649 :     if (_custom_config_ != "") {
+    1340         649 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1341             :     }
+    1342             : 
+    1343         649 :     if (_platform_config_ != "") {
+    1344         649 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1345             :     }
+    1346             : 
+    1347         649 :     if (_world_config_ != "") {
+    1348         649 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1349             :     }
+    1350             : 
+    1351         649 :     if (_network_config_ != "") {
+    1352         649 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1353             :     }
+    1354             : 
+    1355         649 :     bool success = false;
+    1356             : 
+    1357             :     try {
+    1358         649 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1359         649 :       success = tracker_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1360             :     }
+    1361           0 :     catch (std::runtime_error& ex) {
+    1362           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1363             :     }
+    1364             : 
+    1365         649 :     if (!success) {
+    1366           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1367           0 :       ros::shutdown();
+    1368             :     }
+    1369             :   }
+    1370             : 
+    1371         108 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1372             : 
+    1373             :   // --------------------------------------------------------------
+    1374             :   // |           check the existance of selected trackers         |
+    1375             :   // --------------------------------------------------------------
+    1376             : 
+    1377             :   // | ------ check for the existance of the hover tracker ------ |
+    1378             : 
+    1379             :   // check if the hover_tracker is within the loaded trackers
+    1380             :   {
+    1381         108 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1382             : 
+    1383         108 :     if (idx) {
+    1384         108 :       _ehover_tracker_idx_ = idx.value();
+    1385             :     } else {
+    1386           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1387           0 :       ros::shutdown();
+    1388             :     }
+    1389             :   }
+    1390             : 
+    1391             :   // | ----- check for the existence of the landoff tracker ----- |
+    1392             : 
+    1393             :   {
+    1394         108 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1395             : 
+    1396         108 :     if (idx) {
+    1397         108 :       _landoff_tracker_idx_ = idx.value();
+    1398             :     } else {
+    1399           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1400           0 :       ros::shutdown();
+    1401             :     }
+    1402             :   }
+    1403             : 
+    1404             :   // | ------- check for the existence of the null tracker ------ |
+    1405             : 
+    1406             :   {
+    1407         108 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1408             : 
+    1409         108 :     if (idx) {
+    1410         108 :       _null_tracker_idx_ = idx.value();
+    1411             :     } else {
+    1412           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1413           0 :       ros::shutdown();
+    1414             :     }
+    1415             :   }
+    1416             : 
+    1417             :   // --------------------------------------------------------------
+    1418             :   // |         check existance of trackers for joystick           |
+    1419             :   // --------------------------------------------------------------
+    1420             : 
+    1421         108 :   if (_joystick_enabled_) {
+    1422             : 
+    1423         108 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1424             : 
+    1425         108 :     if (idx) {
+    1426         108 :       _joystick_tracker_idx_ = idx.value();
+    1427             :     } else {
+    1428           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1429           0 :       ros::shutdown();
+    1430             :     }
+    1431             :   }
+    1432             : 
+    1433         108 :   if (_bumper_switch_tracker_) {
+    1434             : 
+    1435         108 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1436             : 
+    1437         108 :     if (!idx) {
+    1438           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1439           0 :       ros::shutdown();
+    1440             :     }
+    1441             :   }
+    1442             : 
+    1443             :   {
+    1444         108 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1445             : 
+    1446         108 :     if (idx) {
+    1447         108 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1448             :     } else {
+    1449           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1450           0 :       ros::shutdown();
+    1451             :     }
+    1452             :   }
+    1453             : 
+    1454             :   // --------------------------------------------------------------
+    1455             :   // |                    load the controllers                    |
+    1456             :   // --------------------------------------------------------------
+    1457             : 
+    1458         216 :   std::vector<std::string> custom_controllers;
+    1459             : 
+    1460         108 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1461         108 :   param_loader.loadParam("controllers", custom_controllers);
+    1462             : 
+    1463         108 :   if (!custom_controllers.empty()) {
+    1464           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1465             :   }
+    1466             : 
+    1467         108 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1468             : 
+    1469             :   // for each controller in the list
+    1470         648 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1471             : 
+    1472        1080 :     std::string controller_name = _controller_names_.at(i);
+    1473             : 
+    1474             :     // load the controller parameters
+    1475        1080 :     std::string address;
+    1476        1080 :     std::string name_space;
+    1477             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1478             :     bool        human_switchable;
+    1479         540 :     param_loader.loadParam(controller_name + "/address", address);
+    1480         540 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1481         540 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1482         540 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1483         540 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1484         540 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1485             : 
+    1486             :     // check if the controller can output some of the required outputs
+    1487             :     {
+    1488             : 
+    1489         540 :       ControlOutputModalities_t outputs;
+    1490         540 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1491         540 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1492         540 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1493         540 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1494         540 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1495         540 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1496         540 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1497         540 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1498         540 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1499             : 
+    1500         540 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1501         540 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1502         540 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1503         540 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1504         540 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1505         540 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1506         540 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1507         540 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1508         540 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1509             : 
+    1510         525 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1511        1065 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1512             : 
+    1513         540 :       if (!meets_requirements) {
+    1514             : 
+    1515           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1516             :                   controller_name.c_str());
+    1517             : 
+    1518           0 :         if (_hw_api_inputs_.actuators) {
+    1519           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1520             :         }
+    1521             : 
+    1522           0 :         if (_hw_api_inputs_.control_group) {
+    1523           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1524             :         }
+    1525             : 
+    1526           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1527           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1528             :         }
+    1529             : 
+    1530           0 :         if (_hw_api_inputs_.attitude) {
+    1531           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1532             :         }
+    1533             : 
+    1534           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1535           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1536             :         }
+    1537             : 
+    1538           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1539           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1540             :         }
+    1541             : 
+    1542           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1543           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1544             :         }
+    1545             : 
+    1546           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1547           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1548             :         }
+    1549             : 
+    1550           0 :         if (_hw_api_inputs_.position) {
+    1551           0 :           ROS_ERROR("[ControlManager]: - position");
+    1552             :         }
+    1553             : 
+    1554           0 :         ros::shutdown();
+    1555             :       }
+    1556             : 
+    1557         540 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1558           0 :         ROS_ERROR(
+    1559             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1560           0 :         ros::shutdown();
+    1561             :       }
+    1562             :     }
+    1563             : 
+    1564             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1565             : 
+    1566         540 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1567             : 
+    1568         540 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1569          30 :       _safety_timer_rate_     = 200.0;
+    1570          30 :       desired_uav_state_rate_ = 250.0;
+    1571         510 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1572         420 :       _safety_timer_rate_     = 100.0;
+    1573         420 :       desired_uav_state_rate_ = 100.0;
+    1574          90 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1575          20 :       _safety_timer_rate_     = 30.0;
+    1576          20 :       _status_timer_rate_     = 1.0;
+    1577          20 :       desired_uav_state_rate_ = 40.0;
+    1578             : 
+    1579          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1580           4 :         _uav_state_max_missing_time_ = 0.2;
+    1581             :       }
+    1582          70 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1583          70 :       _safety_timer_rate_     = 20.0;
+    1584          70 :       _status_timer_rate_     = 1.0;
+    1585          70 :       desired_uav_state_rate_ = 20.0;
+    1586             : 
+    1587          70 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1588          14 :         _uav_state_max_missing_time_ = 1.0;
+    1589             :       }
+    1590             :     }
+    1591             : 
+    1592         540 :     if (eland_threshold == 0) {
+    1593         109 :       eland_threshold = 1e6;
+    1594             :     }
+    1595             : 
+    1596         540 :     if (failsafe_threshold == 0) {
+    1597         109 :       failsafe_threshold = 1e6;
+    1598             :     }
+    1599             : 
+    1600         540 :     if (odometry_innovation_threshold == 0) {
+    1601         110 :       odometry_innovation_threshold = 1e6;
+    1602             :     }
+    1603             : 
+    1604        1620 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1605         540 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1606             : 
+    1607             :     try {
+    1608         540 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1609         540 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1610             :     }
+    1611           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1612           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1613           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1614           0 :       ros::shutdown();
+    1615             :     }
+    1616           0 :     catch (pluginlib::PluginlibException& ex) {
+    1617           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1618           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1619           0 :       ros::shutdown();
+    1620             :     }
+    1621             :   }
+    1622             : 
+    1623         108 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1624             : 
+    1625         648 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1626             : 
+    1627         540 :     std::map<std::string, ControllerParams>::iterator it;
+    1628         540 :     it = controllers_.find(_controller_names_.at(i));
+    1629             : 
+    1630             :     // create private handlers
+    1631             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1632        1080 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1633             : 
+    1634         540 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1635         540 :     private_handlers->name_space     = it->second.name_space;
+    1636         540 :     private_handlers->runtime_name   = _controller_names_.at(i);
+    1637         540 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_.at(i));
+    1638             : 
+    1639         540 :     if (_custom_config_ != "") {
+    1640         540 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1641             :     }
+    1642             : 
+    1643         540 :     if (_platform_config_ != "") {
+    1644         540 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1645             :     }
+    1646             : 
+    1647         540 :     if (_world_config_ != "") {
+    1648         540 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1649             :     }
+    1650             : 
+    1651         540 :     if (_network_config_ != "") {
+    1652         540 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1653             :     }
+    1654             : 
+    1655         540 :     bool success = false;
+    1656             : 
+    1657             :     try {
+    1658             : 
+    1659         540 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1660         540 :       success = controller_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1661             :     }
+    1662           0 :     catch (std::runtime_error& ex) {
+    1663           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1664             :     }
+    1665             : 
+    1666         540 :     if (!success) {
+    1667           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1668           0 :       ros::shutdown();
+    1669             :     }
+    1670             :   }
+    1671             : 
+    1672         108 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1673             : 
+    1674             :   {
+    1675         108 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1676             : 
+    1677         108 :     if (idx) {
+    1678         108 :       _failsafe_controller_idx_ = idx.value();
+    1679             :     } else {
+    1680           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1681           0 :       ros::shutdown();
+    1682             :     }
+    1683             :   }
+    1684             : 
+    1685             :   {
+    1686         108 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1687             : 
+    1688         108 :     if (idx) {
+    1689         108 :       _eland_controller_idx_ = idx.value();
+    1690             :     } else {
+    1691           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1692           0 :       ros::shutdown();
+    1693             :     }
+    1694             :   }
+    1695             : 
+    1696             :   {
+    1697         108 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1698             : 
+    1699         108 :     if (idx) {
+    1700         108 :       _joystick_controller_idx_ = idx.value();
+    1701             :     } else {
+    1702           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1703           0 :       ros::shutdown();
+    1704             :     }
+    1705             :   }
+    1706             : 
+    1707         108 :   if (_bumper_switch_controller_) {
+    1708             : 
+    1709         108 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1710             : 
+    1711         108 :     if (!idx) {
+    1712           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1713           0 :       ros::shutdown();
+    1714             :     }
+    1715             :   }
+    1716             : 
+    1717             :   {
+    1718         108 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1719             : 
+    1720         108 :     if (idx) {
+    1721         108 :       _joystick_fallback_controller_idx_ = idx.value();
+    1722             :     } else {
+    1723           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1724           0 :       ros::shutdown();
+    1725             :     }
+    1726             :   }
+    1727             : 
+    1728             :   // --------------------------------------------------------------
+    1729             :   // |                  activate the NullTracker                  |
+    1730             :   // --------------------------------------------------------------
+    1731             : 
+    1732         108 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1733             : 
+    1734         108 :   tracker_list_.at(_null_tracker_idx_)->activate(last_tracker_cmd_);
+    1735         108 :   active_tracker_idx_ = _null_tracker_idx_;
+    1736             : 
+    1737             :   // --------------------------------------------------------------
+    1738             :   // |    activate the eland controller as the first controller   |
+    1739             :   // --------------------------------------------------------------
+    1740             : 
+    1741         108 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_.at(_eland_controller_idx_).c_str());
+    1742             : 
+    1743         108 :   controller_list_.at(_eland_controller_idx_)->activate(last_control_output_);
+    1744         108 :   active_controller_idx_ = _eland_controller_idx_;
+    1745             : 
+    1746             :   // update the time
+    1747             :   {
+    1748         216 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1749             : 
+    1750         108 :     controller_tracker_switch_time_ = ros::Time::now();
+    1751             :   }
+    1752             : 
+    1753         108 :   output_enabled_ = false;
+    1754             : 
+    1755             :   // | --------------- set the default constraints -------------- |
+    1756             : 
+    1757         108 :   sanitized_constraints_ = current_constraints_;
+    1758         108 :   setConstraints(current_constraints_);
+    1759             : 
+    1760             :   // | ------------------------ profiler ------------------------ |
+    1761             : 
+    1762         108 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1763             : 
+    1764             :   // | ----------------------- publishers ----------------------- |
+    1765             : 
+    1766         108 :   control_output_publisher_ = OutputPublisher(nh_);
+    1767             : 
+    1768         108 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1769         108 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1770         108 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1771         108 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1772         108 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1773         108 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1774         108 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1775         108 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1776         108 :   ph_mass_nominal_                       = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_nominal_out", 1, true);
+    1777         108 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1778         108 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1779         108 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1780         108 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1781         108 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1782         108 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1783         108 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1784         108 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1785         108 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1786         108 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1787         108 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1788             : 
+    1789             :   // | ------------------ publish nominal mass ------------------ |
+    1790             : 
+    1791             :   {
+    1792         108 :     std_msgs::Float64 nominal_mass;
+    1793             : 
+    1794         108 :     nominal_mass.data = _uav_mass_;
+    1795             : 
+    1796         108 :     ph_mass_nominal_.publish(nominal_mass);
+    1797             :   }
+    1798             : 
+    1799             :   // | ----------------------- subscribers ---------------------- |
+    1800             : 
+    1801         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1802         108 :   shopts.nh                 = nh_;
+    1803         108 :   shopts.node_name          = "ControlManager";
+    1804         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1805         108 :   shopts.threadsafe         = true;
+    1806         108 :   shopts.autostart          = true;
+    1807         108 :   shopts.queue_size         = 10;
+    1808         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1809             : 
+    1810         108 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1811         108 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1812           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1813           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1814             :   }
+    1815             : 
+    1816         108 :   if (_odometry_innovation_check_enabled_) {
+    1817         108 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1818             :   }
+    1819             : 
+    1820         108 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1821         108 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1822         108 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1823         108 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1824         108 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1825             : 
+    1826         108 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1827             : 
+    1828             :   // | -------------------- general services -------------------- |
+    1829             : 
+    1830         108 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1831         108 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1832         108 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1833         108 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1834         108 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1835         108 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1836         108 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1837         108 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1838         108 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1839         108 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1840         108 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1841         108 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1842         108 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1843         108 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1844         108 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1845         108 :   service_server_set_min_z_                  = nh_.advertiseService("set_min_z_in", &ControlManager::callbackSetMinZ, this);
+    1846         108 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1847         108 :   service_server_transform_reference_array_   = nh_.advertiseService("transform_reference_array_in", &ControlManager::callbackTransformReferenceArray, this);
+    1848         108 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1849         108 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1850         108 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1851         108 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1852         108 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1853         108 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1854         108 :   service_server_validate_reference_array_    = nh_.advertiseService("validate_reference_array_in", &ControlManager::callbackValidateReferenceArray, this);
+    1855         108 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1856         108 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1857         108 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1858         108 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1859             : 
+    1860         108 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1861         108 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1862         108 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1863         108 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1864         108 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1865         108 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1866             : 
+    1867             :   // | ---------------- setpoint command services --------------- |
+    1868             : 
+    1869             :   // human callable
+    1870         108 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1871         108 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1872         108 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1873         108 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1874         108 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1875         108 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1876             : 
+    1877         108 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1878         108 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1879             : 
+    1880         108 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1881             :   sh_velocity_reference_ =
+    1882         108 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1883             : 
+    1884         108 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1885             :   sh_trajectory_reference_ =
+    1886         108 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1887             : 
+    1888             :   // | --------------------- other services --------------------- |
+    1889             : 
+    1890         108 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1891         108 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1892             : 
+    1893             :   // | ------------------------- timers ------------------------- |
+    1894             : 
+    1895         108 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1896         108 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1897         108 :   timer_bumper_    = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerBumper, this);
+    1898         108 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1899         108 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1900         108 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1901         108 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1902             : 
+    1903             :   // | ----------------------- finish init ---------------------- |
+    1904             : 
+    1905         108 :   if (!param_loader.loadedSuccessfully()) {
+    1906           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1907           0 :     ros::shutdown();
+    1908             :   }
+    1909             : 
+    1910         108 :   is_initialized_ = true;
+    1911             : 
+    1912         108 :   ROS_INFO("[ControlManager]: initialized");
+    1913         108 : }
+    1914             : 
+    1915             : //}
+    1916             : 
+    1917             : // --------------------------------------------------------------
+    1918             : // |                           timers                           |
+    1919             : // --------------------------------------------------------------
+    1920             : 
+    1921             : /* timerHwApiCapabilities() //{ */
+    1922             : 
+    1923         181 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1924             : 
+    1925         362 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1926         362 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1927             : 
+    1928         181 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1929          73 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1930          73 :     return;
+    1931             :   }
+    1932             : 
+    1933         216 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1934             : 
+    1935         108 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1936             : 
+    1937         108 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1938           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1939           3 :     _hw_api_inputs_.actuators = true;
+    1940             :   }
+    1941             : 
+    1942         108 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1943           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1944           3 :     _hw_api_inputs_.control_group = true;
+    1945             :   }
+    1946             : 
+    1947         108 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1948          81 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1949          81 :     _hw_api_inputs_.attitude_rate = true;
+    1950             :   }
+    1951             : 
+    1952         108 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1953          79 :     ROS_INFO("[ControlManager]: - attitude command");
+    1954          79 :     _hw_api_inputs_.attitude = true;
+    1955             :   }
+    1956             : 
+    1957         108 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1958           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1959           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1960             :   }
+    1961             : 
+    1962         108 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1963           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1964           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1965             :   }
+    1966             : 
+    1967         108 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1968           8 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1969           8 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1970             :   }
+    1971             : 
+    1972         108 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1973           4 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1974           4 :     _hw_api_inputs_.velocity_hdg = true;
+    1975             :   }
+    1976             : 
+    1977         108 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1978           2 :     ROS_INFO("[ControlManager]: - position command");
+    1979           2 :     _hw_api_inputs_.position = true;
+    1980             :   }
+    1981             : 
+    1982         108 :   initialize();
+    1983             : 
+    1984         108 :   timer_hw_api_capabilities_.stop();
+    1985             : }
+    1986             : 
+    1987             : //}
+    1988             : 
+    1989             : /* //{ timerStatus() */
+    1990             : 
+    1991       19002 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1992             : 
+    1993       19002 :   if (!is_initialized_) {
+    1994           0 :     return;
+    1995             :   }
+    1996             : 
+    1997       57006 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1998       57006 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1999             : 
+    2000             :   // copy member variables
+    2001       38004 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2002       38004 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2003       19002 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    2004       19002 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2005       19002 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2006       19002 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2007             : 
+    2008             :   double uav_x, uav_y, uav_z;
+    2009       19002 :   uav_x = uav_state.pose.position.x;
+    2010       19002 :   uav_y = uav_state.pose.position.y;
+    2011       19002 :   uav_z = uav_state.pose.position.z;
+    2012             : 
+    2013             :   // --------------------------------------------------------------
+    2014             :   // |                      print the status                      |
+    2015             :   // --------------------------------------------------------------
+    2016             : 
+    2017             :   {
+    2018       38004 :     std::string controller = _controller_names_.at(active_controller_idx);
+    2019       38004 :     std::string tracker    = _tracker_names_.at(active_tracker_idx);
+    2020       19002 :     double      mass       = last_control_output.diagnostics.total_mass;
+    2021       19002 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    2022       19002 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    2023       19002 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    2024       19002 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    2025             : 
+    2026       19002 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2027             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2028             :   }
+    2029             : 
+    2030             :   // --------------------------------------------------------------
+    2031             :   // |                   publish the diagnostics                  |
+    2032             :   // --------------------------------------------------------------
+    2033             : 
+    2034       19002 :   publishDiagnostics();
+    2035             : 
+    2036             :   // --------------------------------------------------------------
+    2037             :   // |                publish if the offboard is on               |
+    2038             :   // --------------------------------------------------------------
+    2039             : 
+    2040       19002 :   if (offboard_mode_) {
+    2041             : 
+    2042       12971 :     std_msgs::Empty offboard_on_out;
+    2043             : 
+    2044       12971 :     ph_offboard_on_.publish(offboard_on_out);
+    2045             :   }
+    2046             : 
+    2047             :   // --------------------------------------------------------------
+    2048             :   // |                   publish the tilt error                   |
+    2049             :   // --------------------------------------------------------------
+    2050             :   {
+    2051       38004 :     std::scoped_lock lock(mutex_attitude_error_);
+    2052             : 
+    2053       19002 :     if (tilt_error_) {
+    2054             : 
+    2055       38004 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2056       19002 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2057       19002 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2058       19002 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2059             : 
+    2060       19002 :       ph_tilt_error_.publish(tilt_error_out);
+    2061             :     }
+    2062             :   }
+    2063             : 
+    2064             :   // --------------------------------------------------------------
+    2065             :   // |                  publish the control error                 |
+    2066             :   // --------------------------------------------------------------
+    2067             : 
+    2068       19002 :   if (position_error) {
+    2069             : 
+    2070       11886 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2071             : 
+    2072       23772 :     mrs_msgs::ControlError msg_out;
+    2073             : 
+    2074       11886 :     msg_out.header.stamp    = ros::Time::now();
+    2075       11886 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2076             : 
+    2077       11886 :     msg_out.position_errors.x    = pos_error_value(0);
+    2078       11886 :     msg_out.position_errors.y    = pos_error_value(1);
+    2079       11886 :     msg_out.position_errors.z    = pos_error_value(2);
+    2080       11886 :     msg_out.total_position_error = pos_error_value.norm();
+    2081             : 
+    2082       11886 :     if (yaw_error_) {
+    2083       11886 :       msg_out.yaw_error = yaw_error.value();
+    2084             :     }
+    2085             : 
+    2086       11886 :     std::map<std::string, ControllerParams>::iterator it;
+    2087             : 
+    2088       11886 :     it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2089             : 
+    2090       11886 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2091       11886 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2092             : 
+    2093       11886 :     ph_control_error_.publish(msg_out);
+    2094             :   }
+    2095             : 
+    2096             :   // --------------------------------------------------------------
+    2097             :   // |                  publish the mass estimate                 |
+    2098             :   // --------------------------------------------------------------
+    2099             : 
+    2100       19002 :   if (last_control_output.diagnostics.mass_estimator) {
+    2101             : 
+    2102       10534 :     std_msgs::Float64 mass_estimate_out;
+    2103       10534 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2104             : 
+    2105       10534 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2106             :   }
+    2107             : 
+    2108             :   // --------------------------------------------------------------
+    2109             :   // |                 publish the current heading                |
+    2110             :   // --------------------------------------------------------------
+    2111             : 
+    2112       19002 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2113             : 
+    2114             :     try {
+    2115             : 
+    2116             :       double heading;
+    2117             : 
+    2118       15954 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2119             : 
+    2120       31908 :       mrs_msgs::Float64Stamped heading_out;
+    2121       15954 :       heading_out.header = uav_state.header;
+    2122       15954 :       heading_out.value  = heading;
+    2123             : 
+    2124       15954 :       ph_heading_.publish(heading_out);
+    2125             :     }
+    2126           0 :     catch (...) {
+    2127           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2128             :     }
+    2129             :   }
+    2130             : 
+    2131             :   // --------------------------------------------------------------
+    2132             :   // |                  publish the current speed                 |
+    2133             :   // --------------------------------------------------------------
+    2134             : 
+    2135       19002 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2136             : 
+    2137       15954 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2138             : 
+    2139       31908 :     mrs_msgs::Float64Stamped speed_out;
+    2140       15954 :     speed_out.header = uav_state.header;
+    2141       15954 :     speed_out.value  = speed;
+    2142             : 
+    2143       15954 :     ph_speed_.publish(speed_out);
+    2144             :   }
+    2145             : 
+    2146             :   // --------------------------------------------------------------
+    2147             :   // |               publish the safety area markers              |
+    2148             :   // --------------------------------------------------------------
+    2149             : 
+    2150       19002 :   if (use_safety_area_) {
+    2151             : 
+    2152       30234 :     mrs_msgs::ReferenceStamped temp_ref;
+    2153       15117 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2154             : 
+    2155       30234 :     geometry_msgs::TransformStamped tf;
+    2156             : 
+    2157       45351 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2158             : 
+    2159       15117 :     if (ret) {
+    2160             : 
+    2161       12449 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2162             : 
+    2163       24898 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2164       24898 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2165             : 
+    2166       24898 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2167             : 
+    2168       24898 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2169       24898 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2170             : 
+    2171       24898 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2172       24898 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2173             : 
+    2174             :       // if we fail in transforming the area at some point
+    2175             :       // do not publish it at all
+    2176       12449 :       bool tf_success = true;
+    2177             : 
+    2178       24898 :       geometry_msgs::TransformStamped tf = ret.value();
+    2179             : 
+    2180             :       /* transform area points to local origin //{ */
+    2181             : 
+    2182             :       // transform border bottom points to local origin
+    2183       62245 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2184             : 
+    2185       49796 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2186       49796 :         temp_ref.header.stamp         = ros::Time(0);
+    2187       49796 :         temp_ref.reference.position.x = border_points_bot_original.at(i).x;
+    2188       49796 :         temp_ref.reference.position.y = border_points_bot_original.at(i).y;
+    2189       49796 :         temp_ref.reference.position.z = border_points_bot_original.at(i).z;
+    2190             : 
+    2191       99592 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2192             : 
+    2193       49796 :           temp_ref = ret.value();
+    2194             : 
+    2195       49796 :           border_points_bot_transformed.at(i).x = temp_ref.reference.position.x;
+    2196       49796 :           border_points_bot_transformed.at(i).y = temp_ref.reference.position.y;
+    2197       49796 :           border_points_bot_transformed.at(i).z = temp_ref.reference.position.z;
+    2198             : 
+    2199             :         } else {
+    2200           0 :           tf_success = false;
+    2201             :         }
+    2202             :       }
+    2203             : 
+    2204             :       // transform border top points to local origin
+    2205       62245 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2206             : 
+    2207       49796 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2208       49796 :         temp_ref.header.stamp         = ros::Time(0);
+    2209       49796 :         temp_ref.reference.position.x = border_points_top_original.at(i).x;
+    2210       49796 :         temp_ref.reference.position.y = border_points_top_original.at(i).y;
+    2211       49796 :         temp_ref.reference.position.z = border_points_top_original.at(i).z;
+    2212             : 
+    2213       99592 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2214             : 
+    2215       49796 :           temp_ref = ret.value();
+    2216             : 
+    2217       49796 :           border_points_top_transformed.at(i).x = temp_ref.reference.position.x;
+    2218       49796 :           border_points_top_transformed.at(i).y = temp_ref.reference.position.y;
+    2219       49796 :           border_points_top_transformed.at(i).z = temp_ref.reference.position.z;
+    2220             : 
+    2221             :         } else {
+    2222           0 :           tf_success = false;
+    2223             :         }
+    2224             :       }
+    2225             : 
+    2226             :       //}
+    2227             : 
+    2228       24898 :       visualization_msgs::Marker safety_area_marker;
+    2229             : 
+    2230       12449 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2231       12449 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2232       12449 :       safety_area_marker.color.a         = 0.15;
+    2233       12449 :       safety_area_marker.scale.x         = 0.2;
+    2234       12449 :       safety_area_marker.color.r         = 1;
+    2235       12449 :       safety_area_marker.color.g         = 0;
+    2236       12449 :       safety_area_marker.color.b         = 0;
+    2237             : 
+    2238       12449 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2239             : 
+    2240       24898 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2241             : 
+    2242       12449 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2243       12449 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2244       12449 :       safety_area_coordinates_marker.color.a         = 1;
+    2245       12449 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2246       12449 :       safety_area_coordinates_marker.color.r         = 0;
+    2247       12449 :       safety_area_coordinates_marker.color.g         = 0;
+    2248       12449 :       safety_area_coordinates_marker.color.b         = 0;
+    2249             : 
+    2250       12449 :       safety_area_coordinates_marker.id = 0;
+    2251             : 
+    2252       12449 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2253             : 
+    2254             :       /* adding safety area points //{ */
+    2255             : 
+    2256             :       // bottom border
+    2257       62245 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2258             : 
+    2259       49796 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2260       49796 :         safety_area_marker.points.push_back(border_points_bot_transformed.at((i + 1) % border_points_bot_transformed.size()));
+    2261             : 
+    2262       99592 :         std::stringstream ss;
+    2263             : 
+    2264       49796 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2265           0 :           ss << "idx: " << i << std::endl
+    2266           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2267           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2268             :         } else {
+    2269       49796 :           ss << "idx: " << i << std::endl
+    2270       49796 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2271       49796 :              << "y: " << border_points_bot_original.at(i).y;
+    2272             :         }
+    2273             : 
+    2274       49796 :         safety_area_coordinates_marker.color.r = 0;
+    2275       49796 :         safety_area_coordinates_marker.color.g = 0;
+    2276       49796 :         safety_area_coordinates_marker.color.b = 0;
+    2277             : 
+    2278       49796 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed.at(i);
+    2279       49796 :         safety_area_coordinates_marker.text          = ss.str();
+    2280       49796 :         safety_area_coordinates_marker.id++;
+    2281             : 
+    2282       49796 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2283             :       }
+    2284             : 
+    2285             :       // top border + top/bot edges
+    2286       62245 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2287             : 
+    2288       49796 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2289       49796 :         safety_area_marker.points.push_back(border_points_top_transformed.at((i + 1) % border_points_top_transformed.size()));
+    2290             : 
+    2291       49796 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2292       49796 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2293             : 
+    2294       99592 :         std::stringstream ss;
+    2295             : 
+    2296       49796 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2297           0 :           ss << "idx: " << i << std::endl
+    2298           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2299           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2300             :         } else {
+    2301       49796 :           ss << "idx: " << i << std::endl
+    2302       49796 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2303       49796 :              << "y: " << border_points_bot_original.at(i).y;
+    2304             :         }
+    2305             : 
+    2306       49796 :         safety_area_coordinates_marker.color.r = 1;
+    2307       49796 :         safety_area_coordinates_marker.color.g = 1;
+    2308       49796 :         safety_area_coordinates_marker.color.b = 1;
+    2309             : 
+    2310       49796 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed.at(i);
+    2311       49796 :         safety_area_coordinates_marker.text          = ss.str();
+    2312       49796 :         safety_area_coordinates_marker.id++;
+    2313             : 
+    2314       49796 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2315             :       }
+    2316             : 
+    2317             :       //}
+    2318             : 
+    2319       12449 :       if (tf_success) {
+    2320             : 
+    2321       12449 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2322             : 
+    2323       12449 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2324             : 
+    2325       12449 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2326             :       }
+    2327             : 
+    2328             :     } else {
+    2329        2668 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2330             :     }
+    2331             :   }
+    2332             : 
+    2333             :   // --------------------------------------------------------------
+    2334             :   // |              publish the disturbances markers              |
+    2335             :   // --------------------------------------------------------------
+    2336             : 
+    2337       19002 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2338             : 
+    2339       21180 :     visualization_msgs::MarkerArray msg_out;
+    2340             : 
+    2341       10590 :     double id = 0;
+    2342             : 
+    2343       10590 :     double multiplier = 1.0;
+    2344             : 
+    2345       10590 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2346             : 
+    2347       10590 :     Eigen::Vector3d      vec3d;
+    2348       10590 :     geometry_msgs::Point point;
+    2349             : 
+    2350             :     /* world disturbance //{ */
+    2351             :     {
+    2352             : 
+    2353       21180 :       visualization_msgs::Marker marker;
+    2354             : 
+    2355       10590 :       marker.header.frame_id = uav_state.header.frame_id;
+    2356       10590 :       marker.header.stamp    = ros::Time::now();
+    2357       10590 :       marker.ns              = "control_manager";
+    2358       10590 :       marker.id              = id++;
+    2359       10590 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2360       10590 :       marker.action          = visualization_msgs::Marker::ADD;
+    2361             : 
+    2362             :       /* position //{ */
+    2363             : 
+    2364       10590 :       marker.pose.position.x = 0.0;
+    2365       10590 :       marker.pose.position.y = 0.0;
+    2366       10590 :       marker.pose.position.z = 0.0;
+    2367             : 
+    2368             :       //}
+    2369             : 
+    2370             :       /* orientation //{ */
+    2371             : 
+    2372       10590 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2373             : 
+    2374             :       //}
+    2375             : 
+    2376             :       /* origin //{ */
+    2377       10590 :       point.x = uav_x;
+    2378       10590 :       point.y = uav_y;
+    2379       10590 :       point.z = uav_z;
+    2380             : 
+    2381       10590 :       marker.points.push_back(point);
+    2382             : 
+    2383             :       //}
+    2384             : 
+    2385             :       /* tip //{ */
+    2386             : 
+    2387       10590 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2388       10590 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2389       10590 :       point.z = uav_z;
+    2390             : 
+    2391       10590 :       marker.points.push_back(point);
+    2392             : 
+    2393             :       //}
+    2394             : 
+    2395       10590 :       marker.scale.x = 0.05;
+    2396       10590 :       marker.scale.y = 0.05;
+    2397       10590 :       marker.scale.z = 0.05;
+    2398             : 
+    2399       10590 :       marker.color.a = 0.5;
+    2400       10590 :       marker.color.r = 1.0;
+    2401       10590 :       marker.color.g = 0.0;
+    2402       10590 :       marker.color.b = 0.0;
+    2403             : 
+    2404       10590 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2405             : 
+    2406       10590 :       msg_out.markers.push_back(marker);
+    2407             :     }
+    2408             : 
+    2409             :     //}
+    2410             : 
+    2411             :     /* body disturbance //{ */
+    2412             :     {
+    2413             : 
+    2414       21180 :       visualization_msgs::Marker marker;
+    2415             : 
+    2416       10590 :       marker.header.frame_id = uav_state.header.frame_id;
+    2417       10590 :       marker.header.stamp    = ros::Time::now();
+    2418       10590 :       marker.ns              = "control_manager";
+    2419       10590 :       marker.id              = id++;
+    2420       10590 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2421       10590 :       marker.action          = visualization_msgs::Marker::ADD;
+    2422             : 
+    2423             :       /* position //{ */
+    2424             : 
+    2425       10590 :       marker.pose.position.x = 0.0;
+    2426       10590 :       marker.pose.position.y = 0.0;
+    2427       10590 :       marker.pose.position.z = 0.0;
+    2428             : 
+    2429             :       //}
+    2430             : 
+    2431             :       /* orientation //{ */
+    2432             : 
+    2433       10590 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2434             : 
+    2435             :       //}
+    2436             : 
+    2437             :       /* origin //{ */
+    2438             : 
+    2439       10590 :       point.x = uav_x;
+    2440       10590 :       point.y = uav_y;
+    2441       10590 :       point.z = uav_z;
+    2442             : 
+    2443       10590 :       marker.points.push_back(point);
+    2444             : 
+    2445             :       //}
+    2446             : 
+    2447             :       /* tip //{ */
+    2448             : 
+    2449       10590 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2450       10590 :       vec3d = quat_eigen * vec3d;
+    2451             : 
+    2452       10590 :       point.x = uav_x + vec3d(0);
+    2453       10590 :       point.y = uav_y + vec3d(1);
+    2454       10590 :       point.z = uav_z + vec3d(2);
+    2455             : 
+    2456       10590 :       marker.points.push_back(point);
+    2457             : 
+    2458             :       //}
+    2459             : 
+    2460       10590 :       marker.scale.x = 0.05;
+    2461       10590 :       marker.scale.y = 0.05;
+    2462       10590 :       marker.scale.z = 0.05;
+    2463             : 
+    2464       10590 :       marker.color.a = 0.5;
+    2465       10590 :       marker.color.r = 0.0;
+    2466       10590 :       marker.color.g = 1.0;
+    2467       10590 :       marker.color.b = 0.0;
+    2468             : 
+    2469       10590 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2470             : 
+    2471       10590 :       msg_out.markers.push_back(marker);
+    2472             :     }
+    2473             : 
+    2474             :     //}
+    2475             : 
+    2476       10590 :     ph_disturbances_markers_.publish(msg_out);
+    2477             :   }
+    2478             : 
+    2479             :   // --------------------------------------------------------------
+    2480             :   // |               publish the current constraints              |
+    2481             :   // --------------------------------------------------------------
+    2482             : 
+    2483       19002 :   if (got_constraints_) {
+    2484             : 
+    2485       15883 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2486             : 
+    2487       15883 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2488             : 
+    2489       15883 :     ph_current_constraints_.publish(constraints);
+    2490             :   }
+    2491             : }
+    2492             : 
+    2493             : //}
+    2494             : 
+    2495             : /* //{ timerSafety() */
+    2496             : 
+    2497      344898 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2498             : 
+    2499      344898 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2500             : 
+    2501      344900 :   if (!is_initialized_) {
+    2502           0 :     return;
+    2503             :   }
+    2504             : 
+    2505      689800 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2506      689800 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2507             : 
+    2508             :   // copy member variables
+    2509      344900 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2510      344900 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2511      344900 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2512      344900 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2513      344900 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2514             : 
+    2515      656261 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2516      311361 :       active_tracker_idx == _null_tracker_idx_) {
+    2517      113717 :     return;
+    2518             :   }
+    2519             : 
+    2520      231183 :   if (odometry_switch_in_progress_) {
+    2521           5 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2522           5 :     return;
+    2523             :   }
+    2524             : 
+    2525             :   // | ------------------------ timeouts ------------------------ |
+    2526             : 
+    2527      231178 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2528      231178 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2529             : 
+    2530      231178 :     if (missing_for > _uav_state_max_missing_time_) {
+    2531           0 :       timeoutUavState(missing_for);
+    2532             :     }
+    2533             :   }
+    2534             : 
+    2535      231178 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2536           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2537             : 
+    2538           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2539           0 :       timeoutUavState(missing_for);
+    2540             :     }
+    2541             :   }
+    2542             : 
+    2543             :   // | -------------- eland and failsafe thresholds ------------- |
+    2544             : 
+    2545      231178 :   std::map<std::string, ControllerParams>::iterator it;
+    2546      231178 :   it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2547             : 
+    2548      231178 :   _eland_threshold_               = it->second.eland_threshold;
+    2549      231178 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2550      231178 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2551             : 
+    2552             :   // | --------- calculate control errors and tilt angle -------- |
+    2553             : 
+    2554             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2555             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2556      231178 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2557         208 :     return;
+    2558             :   }
+    2559             : 
+    2560             :   {
+    2561      230970 :     std::scoped_lock lock(mutex_attitude_error_);
+    2562             : 
+    2563      230970 :     tilt_error_ = 0;
+    2564      230970 :     yaw_error_  = 0;
+    2565             :   }
+    2566             : 
+    2567             :   {
+    2568      230970 :     Eigen::Vector3d position_error = Eigen::Vector3d::Zero();
+    2569             : 
+    2570      230970 :     bool position_error_set = false;
+    2571             : 
+    2572      230970 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2573             : 
+    2574      229847 :       position_error(0) = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2575      229847 :       position_error(1) = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2576             : 
+    2577      229847 :       position_error_set = true;
+    2578             :     }
+    2579             : 
+    2580      230970 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2581             : 
+    2582      229847 :       position_error(2) = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2583             : 
+    2584      229847 :       position_error_set = true;
+    2585             :     }
+    2586             : 
+    2587      230970 :     if (position_error_set) {
+    2588             : 
+    2589      229847 :       mrs_lib::set_mutexed(mutex_position_error_, {position_error}, position_error_);
+    2590             :     }
+    2591             :   }
+    2592             : 
+    2593             :   // rotate the drone's z axis
+    2594      230970 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2595      230970 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2596             : 
+    2597             :   // calculate the angle between the drone's z axis and the world's z axis
+    2598      230970 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2599             : 
+    2600             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2601             : 
+    2602             :   // | --------------------- the tilt error --------------------- |
+    2603             : 
+    2604      230970 :   if (last_control_output.desired_orientation) {
+    2605             : 
+    2606             :     // calculate the desired drone's z axis in the world frame
+    2607      204687 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2608      204686 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2609             : 
+    2610             :     {
+    2611      204687 :       std::scoped_lock lock(mutex_attitude_error_);
+    2612             : 
+    2613             :       // calculate the angle between the drone's z axis and the world's z axis
+    2614      204687 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2615             : 
+    2616             :       // calculate the yaw error
+    2617      204687 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2618      204687 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2619             :     }
+    2620             :   }
+    2621             : 
+    2622      230970 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2623      230970 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2624             : 
+    2625             :   // --------------------------------------------------------------
+    2626             :   // |   activate the failsafe controller in case of large error  |
+    2627             :   // --------------------------------------------------------------
+    2628             : 
+    2629      230970 :   if (position_error) {
+    2630             : 
+    2631      229847 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2632             : 
+    2633          14 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2634             : 
+    2635          14 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2636             : 
+    2637           1 :         if (!failsafe_triggered_) {
+    2638             : 
+    2639           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2640             :                     _failsafe_threshold_, position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2641             : 
+    2642           1 :           failsafe();
+    2643             :         }
+    2644             :       }
+    2645             :     }
+    2646             :   }
+    2647             : 
+    2648             :   // --------------------------------------------------------------
+    2649             :   // |     activate emergency land in case of large innovation    |
+    2650             :   // --------------------------------------------------------------
+    2651             : 
+    2652      230970 :   if (_odometry_innovation_check_enabled_) {
+    2653             : 
+    2654      230967 :     std::optional<nav_msgs::Odometry::ConstPtr> innovation;
+    2655             : 
+    2656      230970 :     if (sh_odometry_innovation_.hasMsg()) {
+    2657      230970 :       innovation = {sh_odometry_innovation_.getMsg()};
+    2658             :     } else {
+    2659           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: missing estimator innnovation but the innovation check is enabled!");
+    2660             :     }
+    2661             : 
+    2662      230970 :     if (innovation) {
+    2663             : 
+    2664      230970 :       auto [x, y, z] = mrs_lib::getPosition(innovation.value());
+    2665             : 
+    2666      230970 :       double heading = 0;
+    2667             :       try {
+    2668      230970 :         heading = mrs_lib::getHeading(innovation.value());
+    2669             :       }
+    2670           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2671           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2672             :       }
+    2673             : 
+    2674      230970 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2675             : 
+    2676      230969 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2677             : 
+    2678           0 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2679             : 
+    2680           0 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2681             : 
+    2682           0 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2683             : 
+    2684           0 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2685             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2686             : 
+    2687           0 :             eland();
+    2688             :           }
+    2689             :         }
+    2690             :       }
+    2691             :     }
+    2692             :   }
+    2693             : 
+    2694             :   // --------------------------------------------------------------
+    2695             :   // |   activate emergency land in case of medium control error  |
+    2696             :   // --------------------------------------------------------------
+    2697             : 
+    2698             :   // | ------------------- tilt control error ------------------- |
+    2699             : 
+    2700      230970 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2701             : 
+    2702           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2703             : 
+    2704           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2705             : 
+    2706           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2707             : 
+    2708           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2709             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2710             : 
+    2711           0 :         eland();
+    2712             :       }
+    2713             :     }
+    2714             :   }
+    2715             : 
+    2716             :   // | ----------------- position control error ----------------- |
+    2717             : 
+    2718      230970 :   if (position_error) {
+    2719             : 
+    2720      229844 :     double error_size = position_error->norm();
+    2721             : 
+    2722      229847 :     if (error_size > _eland_threshold_ / 2.0) {
+    2723             : 
+    2724         668 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2725             : 
+    2726         668 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2727             : 
+    2728         476 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2729             : 
+    2730          69 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2731             : 
+    2732          69 :           ungripSrv();
+    2733             :         }
+    2734             :       }
+    2735             :     }
+    2736             : 
+    2737      229847 :     if (error_size > _eland_threshold_) {
+    2738             : 
+    2739         267 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2740             : 
+    2741         267 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2742             : 
+    2743          86 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2744             : 
+    2745           4 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2746             :                     position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2747             : 
+    2748           4 :           eland();
+    2749             :         }
+    2750             :       }
+    2751             :     }
+    2752             :   }
+    2753             : 
+    2754             :   // | -------------------- yaw control error ------------------- |
+    2755             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2756             : 
+    2757      230970 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2758             : 
+    2759      230967 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2760             : 
+    2761           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2762             : 
+    2763           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2764             : 
+    2765           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2766             : 
+    2767           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2768             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2769             : 
+    2770           0 :           ungripSrv();
+    2771             :         }
+    2772             :       }
+    2773             :     }
+    2774             : 
+    2775      230969 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2776             : 
+    2777           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2778             : 
+    2779           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2780             : 
+    2781           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2782             : 
+    2783           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2784             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2785             : 
+    2786           0 :           eland();
+    2787             :         }
+    2788             :       }
+    2789             :     }
+    2790             :   }
+    2791             : 
+    2792             :   // --------------------------------------------------------------
+    2793             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2794             :   // --------------------------------------------------------------
+    2795      230968 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2796             : 
+    2797           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_);
+    2798             : 
+    2799           0 :     arming(false);
+    2800             :   }
+    2801             : 
+    2802             :   // --------------------------------------------------------------
+    2803             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2804             :   // --------------------------------------------------------------
+    2805             : 
+    2806      230968 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2807             : 
+    2808      230967 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2809             : 
+    2810             :     // the time from the last controller/tracker switch
+    2811             :     // fyi: we should not
+    2812      230970 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2813             : 
+    2814             :     // if the tile error is over the threshold
+    2815             :     // && we are not ramping up during takeoff
+    2816      230970 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2817             : 
+    2818             :       // only account for the error if some time passed from the last tracker/controller switch
+    2819           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2820             : 
+    2821             :         // if the threshold was not exceeded before
+    2822           0 :         if (!tilt_error_disarm_over_thr_) {
+    2823             : 
+    2824           0 :           tilt_error_disarm_over_thr_ = true;
+    2825           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2826             : 
+    2827           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2828             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2829             : 
+    2830             :           // if it was exceeded before, just keep it
+    2831             :         } else {
+    2832             : 
+    2833           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2834             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2835             :         }
+    2836             : 
+    2837             :         // if the tile error is bad, but the controller just switched,
+    2838             :         // don't think its bad anymore
+    2839             :       } else {
+    2840             : 
+    2841           0 :         tilt_error_disarm_over_thr_ = false;
+    2842           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2843             :       }
+    2844             : 
+    2845             :       // if the tilt error is fine
+    2846             :     } else {
+    2847             : 
+    2848             :       // make it fine
+    2849      230970 :       tilt_error_disarm_over_thr_ = false;
+    2850      230970 :       tilt_error_disarm_time_     = ros::Time::now();
+    2851             :     }
+    2852             : 
+    2853             :     // calculate the time over the threshold
+    2854      230969 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2855             : 
+    2856             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2857      230970 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2858             : 
+    2859           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2860             : 
+    2861             :       // only when flying and not in failsafe
+    2862           0 :       if (is_flying) {
+    2863             : 
+    2864           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2865             : 
+    2866           0 :         toggleOutput(false);
+    2867           0 :         arming(false);
+    2868             :       }
+    2869             :     }
+    2870             :   }
+    2871             : 
+    2872             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2873             : 
+    2874             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2875      230971 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2876             : 
+    2877           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2878             : 
+    2879           0 :     toggleOutput(false);
+    2880             :   }
+    2881             : }  // namespace control_manager
+    2882             : 
+    2883             : //}
+    2884             : 
+    2885             : /* //{ timerEland() */
+    2886             : 
+    2887         482 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2888             : 
+    2889         482 :   if (!is_initialized_) {
+    2890         113 :     return;
+    2891             :   }
+    2892             : 
+    2893         964 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2894         964 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2895             : 
+    2896             :   // copy member variables
+    2897         482 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2898             : 
+    2899         482 :   if (!last_control_output.control_output) {
+    2900           0 :     return;
+    2901             :   }
+    2902             : 
+    2903         482 :   auto throttle = extractThrottle(last_control_output);
+    2904             : 
+    2905         482 :   if (!throttle) {
+    2906         113 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2907         113 :     return;
+    2908             :   }
+    2909             : 
+    2910         369 :   if (current_state_landing_ == IDLE_STATE) {
+    2911             : 
+    2912           0 :     return;
+    2913             : 
+    2914         369 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2915             : 
+    2916             :     // --------------------------------------------------------------
+    2917             :     // |                            TODO                            |
+    2918             :     // This section needs work. The throttle landing detection      |
+    2919             :     // mechanism should be extracted and other mechanisms, such     |
+    2920             :     // as velocity-based detection should be used for high          |
+    2921             :     // modalities                                                   |
+    2922             :     // --------------------------------------------------------------
+    2923             : 
+    2924         369 :     if (!last_control_output.control_output) {
+    2925           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2926           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2927           0 :       return;
+    2928             :     }
+    2929             : 
+    2930             :     // recalculate the mass based on the throttle
+    2931         369 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2932         369 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2933             : 
+    2934             :     // condition for automatic motor turn off
+    2935         369 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2936          88 :       if (!throttle_under_threshold_) {
+    2937             : 
+    2938           4 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2939           4 :         throttle_under_threshold_          = true;
+    2940             :       }
+    2941             : 
+    2942          88 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2943             : 
+    2944             :     } else {
+    2945         281 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2946         281 :       throttle_under_threshold_          = false;
+    2947             :     }
+    2948             : 
+    2949         369 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2950             :       // enable callbacks? ... NO
+    2951             : 
+    2952           4 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2953           4 :       toggleOutput(false);
+    2954             : 
+    2955             :       // disarm the drone
+    2956           4 :       if (_eland_disarm_enabled_) {
+    2957             : 
+    2958           4 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2959           4 :         arming(false);
+    2960             :       }
+    2961             : 
+    2962           4 :       changeLandingState(IDLE_STATE);
+    2963             : 
+    2964           4 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2965             : 
+    2966           4 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2967           4 :       timer_eland_.stop();
+    2968           4 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2969             : 
+    2970             :       // we should NOT set eland_triggered_=true
+    2971             :     }
+    2972             :   }
+    2973             : }
+    2974             : 
+    2975             : //}
+    2976             : 
+    2977             : /* //{ timerFailsafe() */
+    2978             : 
+    2979        9719 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2980             : 
+    2981        9719 :   if (!is_initialized_) {
+    2982           0 :     return;
+    2983             :   }
+    2984             : 
+    2985        9719 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2986             : 
+    2987       19438 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2988       19438 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2989             : 
+    2990             :   // copy member variables
+    2991        9719 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2992             : 
+    2993        9719 :   updateControllers(uav_state);
+    2994             : 
+    2995        9719 :   publish();
+    2996             : 
+    2997        9719 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2998             : 
+    2999        9719 :   if (!last_control_output.control_output) {
+    3000           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    3001           0 :     return;
+    3002             :   }
+    3003             : 
+    3004        9719 :   auto throttle = extractThrottle(last_control_output);
+    3005             : 
+    3006        9719 :   if (!throttle) {
+    3007           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    3008           0 :     return;
+    3009             :   }
+    3010             : 
+    3011             :   // --------------------------------------------------------------
+    3012             :   // |                            TODO                            |
+    3013             :   // This section needs work. The throttle landing detection      |
+    3014             :   // mechanism should be extracted and other mechanisms, such     |
+    3015             :   // as velocity-based detection should be used for high          |
+    3016             :   // modalities                                                   |
+    3017             :   // --------------------------------------------------------------
+    3018             : 
+    3019        9719 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    3020        9719 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    3021             : 
+    3022             :   // condition for automatic motor turn off
+    3023        9719 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    3024             : 
+    3025        1414 :     if (!throttle_under_threshold_) {
+    3026             : 
+    3027           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    3028           7 :       throttle_under_threshold_          = true;
+    3029             :     }
+    3030             : 
+    3031        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3032             : 
+    3033             :   } else {
+    3034             : 
+    3035        8305 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3036        8305 :     throttle_under_threshold_          = false;
+    3037             :   }
+    3038             : 
+    3039             :   // condition for automatic motor turn off
+    3040        9719 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3041             : 
+    3042           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3043             : 
+    3044           7 :     arming(false);
+    3045             :   }
+    3046             : }
+    3047             : 
+    3048             : //}
+    3049             : 
+    3050             : /* //{ timerJoystick() */
+    3051             : 
+    3052       66666 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3053             : 
+    3054       66666 :   if (!is_initialized_) {
+    3055           0 :     return;
+    3056             :   }
+    3057             : 
+    3058      199998 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3059      199998 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3060             : 
+    3061      133332 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3062             : 
+    3063             :   // if start was pressed and held for > 3.0 s
+    3064       66666 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3065             : 
+    3066           0 :     joystick_start_press_time_ = ros::Time(0);
+    3067             : 
+    3068           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3069             :              _joystick_controller_name_.c_str());
+    3070             : 
+    3071           0 :     joystick_start_pressed_ = false;
+    3072             : 
+    3073           0 :     switchTracker(_joystick_tracker_name_);
+    3074           0 :     switchController(_joystick_controller_name_);
+    3075             :   }
+    3076             : 
+    3077             :   // if RT+LT were pressed and held for > 0.1 s
+    3078       66666 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3079             : 
+    3080           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3081             : 
+    3082           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3083             : 
+    3084           0 :     joystick_failsafe_pressed_ = false;
+    3085             : 
+    3086           0 :     failsafe();
+    3087             :   }
+    3088             : 
+    3089             :   // if joypads were pressed and held for > 0.1 s
+    3090       66666 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3091             : 
+    3092           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3093             : 
+    3094           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3095             : 
+    3096           0 :     joystick_failsafe_pressed_ = false;
+    3097             : 
+    3098           0 :     eland();
+    3099             :   }
+    3100             : 
+    3101             :   // if back was pressed and held for > 0.1 s
+    3102       66666 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3103             : 
+    3104           0 :     joystick_back_press_time_ = ros::Time(0);
+    3105             : 
+    3106             :     // activate/deactivate the joystick goto functionality
+    3107           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3108             : 
+    3109           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3110             :   }
+    3111             : 
+    3112             :   // if the GOTO functionality is enabled...
+    3113       66666 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3114             : 
+    3115           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3116             : 
+    3117             :     // create the reference
+    3118             : 
+    3119           0 :     mrs_msgs::Vec4::Request request;
+    3120             : 
+    3121           0 :     if (fabs(joystick_data->axes.at(_channel_pitch_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_roll_)) >= 0.05 ||
+    3122           0 :         fabs(joystick_data->axes.at(_channel_heading_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_throttle_)) >= 0.05) {
+    3123             : 
+    3124           0 :       if (_joystick_mode_ == 0) {
+    3125             : 
+    3126           0 :         request.goal.at(REF_X)       = _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * _joystick_carrot_distance_;
+    3127           0 :         request.goal.at(REF_Y)       = _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * _joystick_carrot_distance_;
+    3128           0 :         request.goal.at(REF_Z)       = _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_);
+    3129           0 :         request.goal.at(REF_HEADING) = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3130             : 
+    3131           0 :         mrs_msgs::Vec4::Response response;
+    3132             : 
+    3133           0 :         callbackGotoFcu(request, response);
+    3134             : 
+    3135           0 :       } else if (_joystick_mode_ == 1) {
+    3136             : 
+    3137           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3138             : 
+    3139           0 :         double dt = 0.2;
+    3140             : 
+    3141           0 :         trajectory.fly_now         = true;
+    3142           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3143           0 :         trajectory.use_heading     = true;
+    3144           0 :         trajectory.dt              = dt;
+    3145             : 
+    3146           0 :         mrs_msgs::Reference point;
+    3147           0 :         point.position.x = 0;
+    3148           0 :         point.position.y = 0;
+    3149           0 :         point.position.z = 0;
+    3150           0 :         point.heading    = 0;
+    3151             : 
+    3152           0 :         trajectory.points.push_back(point);
+    3153             : 
+    3154           0 :         double speed = 1.0;
+    3155             : 
+    3156           0 :         for (int i = 0; i < 50; i++) {
+    3157             : 
+    3158           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * (speed * dt);
+    3159           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * (speed * dt);
+    3160           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_) * (speed * dt);
+    3161           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3162             : 
+    3163           0 :           trajectory.points.push_back(point);
+    3164             :         }
+    3165             : 
+    3166           0 :         setTrajectoryReference(trajectory);
+    3167             :       }
+    3168             :     }
+    3169             :   }
+    3170             : 
+    3171       66666 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3172             : 
+    3173             :     // create the reference
+    3174        1598 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3175             : 
+    3176         799 :     double des_x       = 0;
+    3177         799 :     double des_y       = 0;
+    3178         799 :     double des_z       = 0;
+    3179         799 :     double des_heading = 0;
+    3180             : 
+    3181         799 :     bool nothing_to_do = true;
+    3182             : 
+    3183             :     // copy member variables
+    3184        1598 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3185             : 
+    3186         799 :     if (rc_channels->channels.size() < 4) {
+    3187             : 
+    3188           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3189             :                          int(rc_channels->channels.size()));
+    3190           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3191             : 
+    3192             :     } else {
+    3193             : 
+    3194         799 :       double tmp_x       = RCChannelToRange(rc_channels->channels.at(_rc_channel_pitch_), _rc_horizontal_speed_, 0.1);
+    3195         799 :       double tmp_y       = -RCChannelToRange(rc_channels->channels.at(_rc_channel_roll_), _rc_horizontal_speed_, 0.1);
+    3196         799 :       double tmp_z       = RCChannelToRange(rc_channels->channels.at(_rc_channel_throttle_), _rc_vertical_speed_, 0.3);
+    3197         799 :       double tmp_heading = -RCChannelToRange(rc_channels->channels.at(_rc_channel_heading_), _rc_heading_rate_, 0.1);
+    3198             : 
+    3199         799 :       if (abs(tmp_x) > 1e-3) {
+    3200         279 :         des_x         = tmp_x;
+    3201         279 :         nothing_to_do = false;
+    3202             :       }
+    3203             : 
+    3204         799 :       if (abs(tmp_y) > 1e-3) {
+    3205         119 :         des_y         = tmp_y;
+    3206         119 :         nothing_to_do = false;
+    3207             :       }
+    3208             : 
+    3209         799 :       if (abs(tmp_z) > 1e-3) {
+    3210         255 :         des_z         = tmp_z;
+    3211         255 :         nothing_to_do = false;
+    3212             :       }
+    3213             : 
+    3214         799 :       if (abs(tmp_heading) > 1e-3) {
+    3215          78 :         des_heading   = tmp_heading;
+    3216          78 :         nothing_to_do = false;
+    3217             :       }
+    3218             :     }
+    3219             : 
+    3220         799 :     if (!nothing_to_do) {
+    3221             : 
+    3222         731 :       request.reference.header.frame_id = "fcu_untilted";
+    3223             : 
+    3224         731 :       request.reference.reference.use_heading_rate = true;
+    3225             : 
+    3226         731 :       request.reference.reference.velocity.x   = des_x;
+    3227         731 :       request.reference.reference.velocity.y   = des_y;
+    3228         731 :       request.reference.reference.velocity.z   = des_z;
+    3229         731 :       request.reference.reference.heading_rate = des_heading;
+    3230             : 
+    3231        1462 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3232             : 
+    3233             :       // disable callbacks of all trackers
+    3234         731 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3235             : 
+    3236             :       // enable the callbacks for the active tracker
+    3237         731 :       req_enable_callbacks.data = true;
+    3238             :       {
+    3239         731 :         std::scoped_lock lock(mutex_tracker_list_);
+    3240             : 
+    3241         731 :         tracker_list_.at(active_tracker_idx_)
+    3242         731 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3243             :       }
+    3244             : 
+    3245         731 :       callbacks_enabled_ = true;
+    3246             : 
+    3247         731 :       callbackVelocityReferenceService(request, response);
+    3248             : 
+    3249         731 :       callbacks_enabled_ = false;
+    3250             : 
+    3251         731 :       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);
+    3252             : 
+    3253             :       // disable the callbacks back again
+    3254         731 :       req_enable_callbacks.data = false;
+    3255             :       {
+    3256         731 :         std::scoped_lock lock(mutex_tracker_list_);
+    3257             : 
+    3258         731 :         tracker_list_.at(active_tracker_idx_)
+    3259         731 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3260             :       }
+    3261             :     }
+    3262             :   }
+    3263             : }
+    3264             : 
+    3265             : //}
+    3266             : 
+    3267             : /* //{ timerBumper() */
+    3268             : 
+    3269        2436 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3270             : 
+    3271        2436 :   if (!is_initialized_) {
+    3272        2159 :     return;
+    3273             :   }
+    3274             : 
+    3275        4872 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3276        4872 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3277             : 
+    3278             :   // | ---------------------- preconditions --------------------- |
+    3279             : 
+    3280        2436 :   if (!sh_bumper_.hasMsg()) {
+    3281        2156 :     return;
+    3282             :   }
+    3283             : 
+    3284         280 :   if (!bumper_enabled_) {
+    3285           0 :     return;
+    3286             :   }
+    3287             : 
+    3288         280 :   if (!isFlyingNormally() && !bumper_repulsing_) {
+    3289           3 :     return;
+    3290             :   }
+    3291             : 
+    3292         277 :   if (!got_uav_state_) {
+    3293           0 :     return;
+    3294             :   }
+    3295             : 
+    3296         277 :   if (sh_bumper_.hasMsg() && (ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3297             : 
+    3298           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: obstacle bumper is missing messages although we got them before");
+    3299             : 
+    3300           0 :     return;
+    3301             :   }
+    3302             : 
+    3303         277 :   timer_bumper_.setPeriod(ros::Duration(1.0 / _bumper_timer_rate_));
+    3304             : 
+    3305             :   // | ------------------ call the bumper logic ----------------- |
+    3306             : 
+    3307         277 :   bumperPushFromObstacle();
+    3308             : }
+    3309             : 
+    3310             : //}
+    3311             : 
+    3312             : /* //{ timerPirouette() */
+    3313             : 
+    3314           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3315             : 
+    3316           0 :   if (!is_initialized_) {
+    3317           0 :     return;
+    3318             :   }
+    3319             : 
+    3320           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3321           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3322             : 
+    3323           0 :   pirouette_iterator_++;
+    3324             : 
+    3325           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3326           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3327           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3328             : 
+    3329           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3330             : 
+    3331           0 :     _pirouette_enabled_ = false;
+    3332           0 :     timer_pirouette_.stop();
+    3333             : 
+    3334           0 :     setCallbacks(true);
+    3335             : 
+    3336           0 :     return;
+    3337             :   }
+    3338             : 
+    3339             :   // set the reference
+    3340           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3341             : 
+    3342           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3343             : 
+    3344           0 :   reference_request.header.frame_id      = "";
+    3345           0 :   reference_request.header.stamp         = ros::Time(0);
+    3346           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3347           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3348           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3349           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3350             : 
+    3351             :   // enable the callbacks for the active tracker
+    3352             :   {
+    3353           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3354             : 
+    3355           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3356           0 :     req_enable_callbacks.data = true;
+    3357             : 
+    3358           0 :     tracker_list_.at(active_tracker_idx_)
+    3359           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3360             : 
+    3361           0 :     callbacks_enabled_ = true;
+    3362             :   }
+    3363             : 
+    3364           0 :   setReference(reference_request);
+    3365             : 
+    3366             :   {
+    3367           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3368             : 
+    3369             :     // disable the callbacks for the active tracker
+    3370           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3371           0 :     req_enable_callbacks.data = false;
+    3372             : 
+    3373           0 :     tracker_list_.at(active_tracker_idx_)
+    3374           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3375             : 
+    3376           0 :     callbacks_enabled_ = false;
+    3377             :   }
+    3378             : }
+    3379             : 
+    3380             : //}
+    3381             : 
+    3382             : // --------------------------------------------------------------
+    3383             : // |                           asyncs                           |
+    3384             : // --------------------------------------------------------------
+    3385             : 
+    3386             : /* asyncControl() //{ */
+    3387             : 
+    3388      148748 : void ControlManager::asyncControl(void) {
+    3389             : 
+    3390      148748 :   if (!is_initialized_) {
+    3391           0 :     return;
+    3392             :   }
+    3393             : 
+    3394      297496 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3395             : 
+    3396      446244 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3397      446244 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3398             : 
+    3399             :   // copy member variables
+    3400      297496 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3401      148748 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3402             : 
+    3403      148748 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3404             : 
+    3405             :     // run the safety timer
+    3406             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3407      139447 :     while (running_safety_timer_) {
+    3408             : 
+    3409         967 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3410         967 :       ros::Duration wait(0.001);
+    3411         967 :       wait.sleep();
+    3412             : 
+    3413         967 :       if (!running_safety_timer_) {
+    3414         955 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3415         955 :         break;
+    3416             :       }
+    3417             :     }
+    3418             : 
+    3419      139435 :     ros::TimerEvent safety_timer_event;
+    3420      139435 :     timerSafety(safety_timer_event);
+    3421             : 
+    3422      139435 :     updateTrackers();
+    3423             : 
+    3424      139435 :     updateControllers(uav_state);
+    3425             : 
+    3426      139435 :     if (got_constraints_) {
+    3427             : 
+    3428             :       // update the constraints to trackers, if need to
+    3429      138802 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3430             : 
+    3431      138802 :       if (enforce && !constraints_being_enforced_) {
+    3432             : 
+    3433          84 :         setConstraintsToTrackers(enforce.value());
+    3434          84 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3435             : 
+    3436          84 :         constraints_being_enforced_ = true;
+    3437             : 
+    3438          84 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3439             : 
+    3440          84 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3441             :                           _controller_names_.at(active_controller_idx).c_str());
+    3442             : 
+    3443      138718 :       } else if (!enforce && constraints_being_enforced_) {
+    3444             : 
+    3445          77 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3446             : 
+    3447          77 :         constraints_being_enforced_ = false;
+    3448             : 
+    3449          77 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3450             : 
+    3451          77 :         setConstraintsToTrackers(current_constraints);
+    3452             :       }
+    3453             :     }
+    3454             : 
+    3455      139435 :     publish();
+    3456             :   }
+    3457             : 
+    3458             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3459      148748 :   if (odometry_switch_in_progress_) {
+    3460             : 
+    3461           5 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3462           5 :     timer_safety_.start();
+    3463           5 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3464           5 :     odometry_switch_in_progress_ = false;
+    3465             : 
+    3466             :     {
+    3467          10 :       std::scoped_lock lock(mutex_uav_state_);
+    3468             : 
+    3469           5 :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3470             :                uav_state.pose.position.z, uav_heading_);
+    3471             :     }
+    3472             :   }
+    3473             : }
+    3474             : 
+    3475             : //}
+    3476             : 
+    3477             : // --------------------------------------------------------------
+    3478             : // |                          callbacks                         |
+    3479             : // --------------------------------------------------------------
+    3480             : 
+    3481             : // | --------------------- topic callbacks -------------------- |
+    3482             : 
+    3483             : /* //{ callbackOdometry() */
+    3484             : 
+    3485           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3486             : 
+    3487           0 :   if (!is_initialized_) {
+    3488           0 :     return;
+    3489             :   }
+    3490             : 
+    3491           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3492           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3493             : 
+    3494           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3495             : 
+    3496             :   // | ------------------ check for time stamp ------------------ |
+    3497             : 
+    3498             :   {
+    3499           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3500             : 
+    3501           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3502           0 :       return;
+    3503             :     }
+    3504             :   }
+    3505             : 
+    3506             :   // | --------------------- check for nans --------------------- |
+    3507             : 
+    3508           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3509           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3510           0 :     return;
+    3511             :   }
+    3512             : 
+    3513             :   // | ---------------------- frame switch ---------------------- |
+    3514             : 
+    3515             :   /* Odometry frame switch //{ */
+    3516             : 
+    3517             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3518             : 
+    3519           0 :   mrs_msgs::UavState uav_state_odom;
+    3520             : 
+    3521           0 :   uav_state_odom.header   = odom->header;
+    3522           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3523           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3524             : 
+    3525             :   // | ----- check for change in odometry frame of reference ---- |
+    3526             : 
+    3527           0 :   if (got_uav_state_) {
+    3528             : 
+    3529           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3530             : 
+    3531           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3532             :       {
+    3533           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3534             : 
+    3535           0 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3536             :                  uav_state_.pose.position.z, uav_heading_);
+    3537             :       }
+    3538             : 
+    3539           0 :       odometry_switch_in_progress_ = true;
+    3540             : 
+    3541             :       // we have to stop safety timer, otherwise it will interfere
+    3542           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3543           0 :       timer_safety_.stop();
+    3544           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3545             : 
+    3546             :       // wait for the safety timer to stop if its running
+    3547           0 :       while (running_safety_timer_) {
+    3548             : 
+    3549           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3550           0 :         ros::Duration wait(0.001);
+    3551           0 :         wait.sleep();
+    3552             : 
+    3553           0 :         if (!running_safety_timer_) {
+    3554           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3555           0 :           break;
+    3556             :         }
+    3557             :       }
+    3558             : 
+    3559             :       // we have to also for the oneshot control timer to finish
+    3560           0 :       while (running_async_control_) {
+    3561             : 
+    3562           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3563           0 :         ros::Duration wait(0.001);
+    3564           0 :         wait.sleep();
+    3565             : 
+    3566           0 :         if (!running_async_control_) {
+    3567           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3568           0 :           break;
+    3569             :         }
+    3570             :       }
+    3571             : 
+    3572             :       {
+    3573           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3574             : 
+    3575           0 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(uav_state_odom);
+    3576           0 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(uav_state_odom);
+    3577             :       }
+    3578             :     }
+    3579             :   }
+    3580             : 
+    3581             :   //}
+    3582             : 
+    3583             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3584             : 
+    3585             :   {
+    3586           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3587             : 
+    3588           0 :     previous_uav_state_ = uav_state_;
+    3589             : 
+    3590           0 :     uav_state_ = mrs_msgs::UavState();
+    3591             : 
+    3592           0 :     uav_state_.header           = odom->header;
+    3593           0 :     uav_state_.pose             = odom->pose.pose;
+    3594           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3595             : 
+    3596             :     // transform the twist into the header's frame
+    3597             :     {
+    3598             :       // the velocity from the odometry
+    3599           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3600           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3601           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3602           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3603           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3604           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3605             : 
+    3606           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3607             : 
+    3608           0 :       if (res) {
+    3609           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3610           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3611           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3612             :       } else {
+    3613           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3614             :                            odom->header.frame_id.c_str());
+    3615           0 :         return;
+    3616             :       }
+    3617             :     }
+    3618             : 
+    3619             :     // calculate the euler angles
+    3620           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3621             : 
+    3622             :     try {
+    3623           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3624             :     }
+    3625           0 :     catch (...) {
+    3626           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3627             :     }
+    3628             : 
+    3629           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3630             : 
+    3631           0 :     got_uav_state_ = true;
+    3632             :   }
+    3633             : 
+    3634             :   // run the control loop asynchronously in an OneShotTimer
+    3635             :   // but only if its not already running
+    3636           0 :   if (!running_async_control_) {
+    3637             : 
+    3638           0 :     running_async_control_ = true;
+    3639             : 
+    3640           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3641             :   }
+    3642             : }
+    3643             : 
+    3644             : //}
+    3645             : 
+    3646             : /* //{ callbackUavState() */
+    3647             : 
+    3648      172556 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3649             : 
+    3650      172556 :   if (!is_initialized_) {
+    3651       21157 :     return;
+    3652             :   }
+    3653             : 
+    3654      345112 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3655      345112 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3656             : 
+    3657      172556 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3658             : 
+    3659             :   // | ------------------ check for time stamp ------------------ |
+    3660             : 
+    3661             :   {
+    3662      172556 :     std::scoped_lock lock(mutex_uav_state_);
+    3663             : 
+    3664      172556 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3665       21157 :       return;
+    3666             :     }
+    3667             :   }
+    3668             : 
+    3669             :   // | --------------------- check for nans --------------------- |
+    3670             : 
+    3671      151399 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3672           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3673           0 :     return;
+    3674             :   }
+    3675             : 
+    3676             :   // | -------------------- check for hiccups ------------------- |
+    3677             : 
+    3678             :   /* hickup detection //{ */
+    3679             : 
+    3680      151399 :   double alpha               = 0.99;
+    3681      151399 :   double alpha2              = 0.666;
+    3682      151399 :   double uav_state_count_lim = 1000;
+    3683             : 
+    3684      151399 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3685             : 
+    3686             :   // belive only reasonable numbers
+    3687      151399 :   if (uav_state_dt <= 1.0) {
+    3688             : 
+    3689      151183 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3690             : 
+    3691      151183 :     if (uav_state_count_ < uav_state_count_lim) {
+    3692       82258 :       uav_state_count_++;
+    3693             :     }
+    3694             :   }
+    3695             : 
+    3696      151399 :   if (uav_state_count_ == uav_state_count_lim) {
+    3697             : 
+    3698             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3699             : 
+    3700       68988 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3701             : 
+    3702       31759 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3703             : 
+    3704       37229 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3705             : 
+    3706       37229 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3707             :     }
+    3708             : 
+    3709       68988 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3710             : 
+    3711             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3712             : 
+    3713           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3714           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3715           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3716           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3717           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3718           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3719           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3720           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3721           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3722           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3723             :     }
+    3724             :   }
+    3725             : 
+    3726             :   //}
+    3727             : 
+    3728             :   // | ---------------------- frame switch ---------------------- |
+    3729             : 
+    3730             :   /* frame switch //{ */
+    3731             : 
+    3732             :   // | ----- check for change in odometry frame of reference ---- |
+    3733             : 
+    3734      151399 :   if (got_uav_state_) {
+    3735             : 
+    3736      151291 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3737             : 
+    3738           5 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3739             :       {
+    3740          10 :         std::scoped_lock lock(mutex_uav_state_);
+    3741             : 
+    3742           5 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3743             :                  uav_state_.pose.position.z, uav_heading_);
+    3744             :       }
+    3745             : 
+    3746           5 :       odometry_switch_in_progress_ = true;
+    3747             : 
+    3748             :       // we have to stop safety timer, otherwise it will interfere
+    3749           5 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3750           5 :       timer_safety_.stop();
+    3751           5 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3752             : 
+    3753             :       // wait for the safety timer to stop if its running
+    3754           5 :       while (running_safety_timer_) {
+    3755             : 
+    3756           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3757           0 :         ros::Duration wait(0.001);
+    3758           0 :         wait.sleep();
+    3759             : 
+    3760           0 :         if (!running_safety_timer_) {
+    3761           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3762           0 :           break;
+    3763             :         }
+    3764             :       }
+    3765             : 
+    3766             :       // we have to also for the oneshot control timer to finish
+    3767           5 :       while (running_async_control_) {
+    3768             : 
+    3769           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3770           0 :         ros::Duration wait(0.001);
+    3771           0 :         wait.sleep();
+    3772             : 
+    3773           0 :         if (!running_async_control_) {
+    3774           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3775           0 :           break;
+    3776             :         }
+    3777             :       }
+    3778             : 
+    3779             :       {
+    3780          10 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3781             : 
+    3782           5 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(*uav_state);
+    3783           5 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(*uav_state);
+    3784             :       }
+    3785             :     }
+    3786             :   }
+    3787             : 
+    3788             :   //}
+    3789             : 
+    3790             :   // --------------------------------------------------------------
+    3791             :   // |           copy the UavState message for later use          |
+    3792             :   // --------------------------------------------------------------
+    3793             : 
+    3794             :   {
+    3795      151399 :     std::scoped_lock lock(mutex_uav_state_);
+    3796             : 
+    3797      151399 :     previous_uav_state_ = uav_state_;
+    3798             : 
+    3799      151399 :     uav_state_ = *uav_state;
+    3800             : 
+    3801      151399 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3802             : 
+    3803             :     try {
+    3804      151399 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3805             :     }
+    3806           0 :     catch (...) {
+    3807           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3808             :     }
+    3809             : 
+    3810      151399 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3811             : 
+    3812      151399 :     got_uav_state_ = true;
+    3813             :   }
+    3814             : 
+    3815             :   // run the control loop asynchronously in an OneShotTimer
+    3816             :   // but only if its not already running
+    3817      151399 :   if (!running_async_control_) {
+    3818             : 
+    3819      148748 :     running_async_control_ = true;
+    3820             : 
+    3821      148748 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3822             :   }
+    3823             : }
+    3824             : 
+    3825             : //}
+    3826             : 
+    3827             : /* //{ callbackGNSS() */
+    3828             : 
+    3829       77670 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3830             : 
+    3831       77670 :   if (!is_initialized_) {
+    3832         113 :     return;
+    3833             :   }
+    3834             : 
+    3835      232671 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3836      232671 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3837             : 
+    3838       77557 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3839             : }
+    3840             : 
+    3841             : //}
+    3842             : 
+    3843             : /* callbackJoystick() //{ */
+    3844             : 
+    3845           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3846             : 
+    3847           0 :   if (!is_initialized_) {
+    3848           0 :     return;
+    3849             :   }
+    3850             : 
+    3851           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3852           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3853             : 
+    3854             :   // copy member variables
+    3855           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3856           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3857             : 
+    3858           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3859             : 
+    3860             :   // TODO check if the array is smaller than the largest idx
+    3861           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3862           0 :     return;
+    3863             :   }
+    3864             : 
+    3865             :   // | ---- switching back to fallback tracker and controller --- |
+    3866             : 
+    3867             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3868           0 :   if ((joystick_data->buttons.at(_channel_A_) == 1 || joystick_data->buttons.at(_channel_B_) == 1 || joystick_data->buttons.at(_channel_X_) == 1 ||
+    3869           0 :        joystick_data->buttons.at(_channel_Y_) == 1) &&
+    3870           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3871             : 
+    3872           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3873             : 
+    3874           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3875           0 :     switchController(_joystick_fallback_controller_name_);
+    3876             : 
+    3877           0 :     joystick_goto_enabled_ = false;
+    3878             :   }
+    3879             : 
+    3880             :   // | ------- joystick control activation ------- |
+    3881             : 
+    3882             :   // if start button was pressed
+    3883           0 :   if (joystick_data->buttons.at(_channel_start_) == 1) {
+    3884             : 
+    3885           0 :     if (!joystick_start_pressed_) {
+    3886             : 
+    3887           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3888             : 
+    3889           0 :       joystick_start_pressed_    = true;
+    3890           0 :       joystick_start_press_time_ = ros::Time::now();
+    3891             :     }
+    3892             : 
+    3893           0 :   } else if (joystick_start_pressed_) {
+    3894             : 
+    3895           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3896             : 
+    3897           0 :     joystick_start_pressed_    = false;
+    3898           0 :     joystick_start_press_time_ = ros::Time(0);
+    3899             :   }
+    3900             : 
+    3901             :   // | ---------------- Joystick goto activation ---------------- |
+    3902             : 
+    3903             :   // if back button was pressed
+    3904           0 :   if (joystick_data->buttons.at(_channel_back_) == 1) {
+    3905             : 
+    3906           0 :     if (!joystick_back_pressed_) {
+    3907             : 
+    3908           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3909             : 
+    3910           0 :       joystick_back_pressed_    = true;
+    3911           0 :       joystick_back_press_time_ = ros::Time::now();
+    3912             :     }
+    3913             : 
+    3914           0 :   } else if (joystick_back_pressed_) {
+    3915             : 
+    3916           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3917             : 
+    3918           0 :     joystick_back_pressed_    = false;
+    3919           0 :     joystick_back_press_time_ = ros::Time(0);
+    3920             :   }
+    3921             : 
+    3922             :   // | ------------------------ Failsafes ----------------------- |
+    3923             : 
+    3924             :   // if LT and RT buttons are both pressed down
+    3925           0 :   if (joystick_data->axes.at(_channel_LT_) < -0.99 && joystick_data->axes.at(_channel_RT_) < -0.99) {
+    3926             : 
+    3927           0 :     if (!joystick_failsafe_pressed_) {
+    3928             : 
+    3929           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3930             : 
+    3931           0 :       joystick_failsafe_pressed_    = true;
+    3932           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3933             :     }
+    3934             : 
+    3935           0 :   } else if (joystick_failsafe_pressed_) {
+    3936             : 
+    3937           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3938             : 
+    3939           0 :     joystick_failsafe_pressed_    = false;
+    3940           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3941             :   }
+    3942             : 
+    3943             :   // if left and right joypads are both pressed down
+    3944           0 :   if (joystick_data->buttons.at(_channel_L_joy_) == 1 && joystick_data->buttons.at(_channel_R_joy_) == 1) {
+    3945             : 
+    3946           0 :     if (!joystick_eland_pressed_) {
+    3947             : 
+    3948           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3949             : 
+    3950           0 :       joystick_eland_pressed_    = true;
+    3951           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3952             :     }
+    3953             : 
+    3954           0 :   } else if (joystick_eland_pressed_) {
+    3955             : 
+    3956           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3957             : 
+    3958           0 :     joystick_eland_pressed_    = false;
+    3959           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3960             :   }
+    3961             : }
+    3962             : 
+    3963             : //}
+    3964             : 
+    3965             : /* //{ callbackHwApiStatus() */
+    3966             : 
+    3967      443038 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3968             : 
+    3969      443038 :   if (!is_initialized_) {
+    3970         330 :     return;
+    3971             :   }
+    3972             : 
+    3973     1328124 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3974     1328124 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3975             : 
+    3976      885416 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3977             : 
+    3978             :   // | ------ detect and print the changes in offboard mode ----- |
+    3979      442708 :   if (state->offboard) {
+    3980             : 
+    3981      309528 :     if (!offboard_mode_) {
+    3982         102 :       offboard_mode_          = true;
+    3983         102 :       offboard_mode_was_true_ = true;
+    3984         102 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3985             :     }
+    3986             : 
+    3987             :   } else {
+    3988             : 
+    3989      133180 :     if (offboard_mode_) {
+    3990           0 :       offboard_mode_ = false;
+    3991           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3992             :     }
+    3993             :   }
+    3994             : 
+    3995             :   // | --------- detect and print the changes in arming --------- |
+    3996      442708 :   if (state->armed == true) {
+    3997             : 
+    3998      322851 :     if (!armed_) {
+    3999         107 :       armed_ = true;
+    4000         107 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    4001             :     }
+    4002             : 
+    4003             :   } else {
+    4004             : 
+    4005      119857 :     if (armed_) {
+    4006          20 :       armed_ = false;
+    4007          20 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    4008             :     }
+    4009             :   }
+    4010             : }
+    4011             : 
+    4012             : //}
+    4013             : 
+    4014             : /* //{ callbackRC() */
+    4015             : 
+    4016       24737 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    4017             : 
+    4018       24737 :   if (!is_initialized_) {
+    4019           0 :     return;
+    4020             :   }
+    4021             : 
+    4022       74211 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    4023       74211 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    4024             : 
+    4025       49474 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    4026             : 
+    4027       24737 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    4028             : 
+    4029             :   // | ------------------- rc joystic control ------------------- |
+    4030             : 
+    4031             :   // when the switch change its position
+    4032       24737 :   if (_rc_goto_enabled_) {
+    4033             : 
+    4034       24737 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    4035             : 
+    4036           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    4037             :                          int(rc->channels.size()));
+    4038             : 
+    4039             :     } else {
+    4040             : 
+    4041       24737 :       bool channel_low  = rc->channels.at(_rc_joystick_channel_) < (0.5 - RC_DEADBAND) ? true : false;
+    4042       24737 :       bool channel_high = rc->channels.at(_rc_joystick_channel_) > (0.5 + RC_DEADBAND) ? true : false;
+    4043             : 
+    4044       24737 :       if (channel_low) {
+    4045       22107 :         rc_joystick_channel_was_low_ = true;
+    4046             :       }
+    4047             : 
+    4048             :       // rc control activation
+    4049       24737 :       if (!rc_goto_active_) {
+    4050             : 
+    4051       22108 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4052             : 
+    4053           2 :           if (isFlyingNormally()) {
+    4054             : 
+    4055           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4056             : 
+    4057           2 :             callbacks_enabled_ = false;
+    4058             : 
+    4059           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4060           2 :             req_goto_out.data = false;
+    4061             : 
+    4062           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4063           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4064             : 
+    4065             :             {
+    4066           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4067             : 
+    4068             :               // disable callbacks of all trackers
+    4069          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4070          12 :                 tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4071             :               }
+    4072             :             }
+    4073             : 
+    4074           2 :             rc_goto_active_ = true;
+    4075             : 
+    4076             :           } else {
+    4077             : 
+    4078           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4079           2 :           }
+    4080             : 
+    4081       22106 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4082             : 
+    4083           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4084             :         }
+    4085             :       }
+    4086             : 
+    4087             :       // rc control deactivation
+    4088       24737 :       if (rc_goto_active_ && channel_low) {
+    4089             : 
+    4090           1 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4091             : 
+    4092           1 :         callbacks_enabled_ = true;
+    4093             : 
+    4094           1 :         std_srvs::SetBoolRequest req_goto_out;
+    4095           1 :         req_goto_out.data = true;
+    4096             : 
+    4097           1 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4098           1 :         req_enable_callbacks.data = callbacks_enabled_;
+    4099             : 
+    4100             :         {
+    4101           2 :           std::scoped_lock lock(mutex_tracker_list_);
+    4102             : 
+    4103             :           // enable callbacks of all trackers
+    4104           7 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4105           6 :             tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4106             :           }
+    4107             :         }
+    4108             : 
+    4109           1 :         rc_goto_active_ = false;
+    4110             :       }
+    4111             : 
+    4112             :       // do not forget to update the last... variable
+    4113             :       // only do that if its out of the deadband
+    4114       24737 :       if (channel_high || channel_low) {
+    4115       24737 :         rc_joystick_channel_last_value_ = rc->channels.at(_rc_joystick_channel_);
+    4116             :       }
+    4117             :     }
+    4118             :   }
+    4119             : 
+    4120             :   // | ----------------- RC escalating failsafe ----------------- |
+    4121             : 
+    4122       24737 :   if (_rc_escalating_failsafe_enabled_) {
+    4123             : 
+    4124       24737 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4125             : 
+    4126           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4127             :                          int(rc->channels.size()));
+    4128             : 
+    4129             :     } else {
+    4130             : 
+    4131       24737 :       if (rc->channels.at(_rc_escalating_failsafe_channel_) >= _rc_escalating_failsafe_threshold_) {
+    4132             : 
+    4133         146 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4134             : 
+    4135         292 :         auto [success, message] = escalatingFailsafe();
+    4136             : 
+    4137         146 :         if (success) {
+    4138           3 :           rc_escalating_failsafe_triggered_ = true;
+    4139             :         }
+    4140             :       }
+    4141             :     }
+    4142             :   }
+    4143             : }
+    4144             : 
+    4145             : //}
+    4146             : 
+    4147             : // | --------------------- topic timeouts --------------------- |
+    4148             : 
+    4149             : /* timeoutUavState() //{ */
+    4150             : 
+    4151           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4152             : 
+    4153           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4154             : 
+    4155           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4156             : 
+    4157             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4158             :     // in place of the callbackUavState/callbackOdometry().
+    4159             : 
+    4160           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4161             : 
+    4162           0 :     failsafe();
+    4163             :   }
+    4164           0 : }
+    4165             : 
+    4166             : //}
+    4167             : 
+    4168             : // | -------------------- service callbacks ------------------- |
+    4169             : 
+    4170             : /* //{ callbackSwitchTracker() */
+    4171             : 
+    4172         212 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4173             : 
+    4174         212 :   if (!is_initialized_) {
+    4175           0 :     return false;
+    4176             :   }
+    4177             : 
+    4178         212 :   if (failsafe_triggered_ || eland_triggered_) {
+    4179             : 
+    4180           0 :     std::stringstream ss;
+    4181           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4182             : 
+    4183           0 :     res.message = ss.str();
+    4184           0 :     res.success = false;
+    4185             : 
+    4186           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4187             : 
+    4188           0 :     return true;
+    4189             :   }
+    4190             : 
+    4191         212 :   if (rc_goto_active_) {
+    4192             : 
+    4193           0 :     std::stringstream ss;
+    4194           0 :     ss << "can not switch tracker, RC joystick is active";
+    4195             : 
+    4196           0 :     res.message = ss.str();
+    4197           0 :     res.success = false;
+    4198             : 
+    4199           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4200             : 
+    4201           0 :     return true;
+    4202             :   }
+    4203             : 
+    4204         212 :   auto [success, response] = switchTracker(req.value);
+    4205             : 
+    4206         212 :   res.success = success;
+    4207         212 :   res.message = response;
+    4208             : 
+    4209         212 :   return true;
+    4210             : }
+    4211             : 
+    4212             : //}
+    4213             : 
+    4214             : /* callbackSwitchController() //{ */
+    4215             : 
+    4216         213 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4217             : 
+    4218         213 :   if (!is_initialized_) {
+    4219           0 :     return false;
+    4220             :   }
+    4221             : 
+    4222         213 :   if (failsafe_triggered_ || eland_triggered_) {
+    4223             : 
+    4224           0 :     std::stringstream ss;
+    4225           0 :     ss << "can not switch controller, eland or failsafe active";
+    4226             : 
+    4227           0 :     res.message = ss.str();
+    4228           0 :     res.success = false;
+    4229             : 
+    4230           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4231             : 
+    4232           0 :     return true;
+    4233             :   }
+    4234             : 
+    4235         213 :   if (rc_goto_active_) {
+    4236             : 
+    4237           2 :     std::stringstream ss;
+    4238           2 :     ss << "can not switch controller, RC joystick is active";
+    4239             : 
+    4240           2 :     res.message = ss.str();
+    4241           2 :     res.success = false;
+    4242             : 
+    4243           2 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4244             : 
+    4245           2 :     return true;
+    4246             :   }
+    4247             : 
+    4248         211 :   auto [success, response] = switchController(req.value);
+    4249             : 
+    4250         211 :   res.success = success;
+    4251         211 :   res.message = response;
+    4252             : 
+    4253         211 :   return true;
+    4254             : }
+    4255             : 
+    4256             : //}
+    4257             : 
+    4258             : /* //{ callbackSwitchTracker() */
+    4259             : 
+    4260           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4261             : 
+    4262           0 :   if (!is_initialized_) {
+    4263           0 :     return false;
+    4264             :   }
+    4265             : 
+    4266           0 :   std::stringstream message;
+    4267             : 
+    4268           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4269             : 
+    4270           0 :     message << "can not reset tracker, eland or failsafe active";
+    4271             : 
+    4272           0 :     res.message = message.str();
+    4273           0 :     res.success = false;
+    4274             : 
+    4275           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4276             : 
+    4277           0 :     return true;
+    4278             :   }
+    4279             : 
+    4280             :   // reactivate the current tracker
+    4281             :   {
+    4282           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4283             : 
+    4284           0 :     std::string tracker_name = _tracker_names_.at(active_tracker_idx_);
+    4285             : 
+    4286           0 :     bool succ = tracker_list_.at(active_tracker_idx_)->resetStatic();
+    4287             : 
+    4288           0 :     if (succ) {
+    4289           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4290           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4291             :     } else {
+    4292           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4293           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4294             :     }
+    4295             :   }
+    4296             : 
+    4297           0 :   res.message = message.str();
+    4298           0 :   res.success = true;
+    4299             : 
+    4300           0 :   return true;
+    4301             : }
+    4302             : 
+    4303             : //}
+    4304             : 
+    4305             : /* //{ callbackEHover() */
+    4306             : 
+    4307           2 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4308             : 
+    4309           2 :   if (!is_initialized_) {
+    4310           0 :     return false;
+    4311             :   }
+    4312             : 
+    4313           2 :   if (failsafe_triggered_ || eland_triggered_) {
+    4314             : 
+    4315           0 :     std::stringstream ss;
+    4316           0 :     ss << "can not switch controller, eland or failsafe active";
+    4317             : 
+    4318           0 :     res.message = ss.str();
+    4319           0 :     res.success = false;
+    4320             : 
+    4321           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4322             : 
+    4323           0 :     return true;
+    4324             :   }
+    4325             : 
+    4326           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4327             : 
+    4328           2 :   auto [success, message] = ehover();
+    4329             : 
+    4330           2 :   res.success = success;
+    4331           2 :   res.message = message;
+    4332             : 
+    4333           2 :   return true;
+    4334             : }
+    4335             : 
+    4336             : //}
+    4337             : 
+    4338             : /* callbackFailsafe() //{ */
+    4339             : 
+    4340           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4341             : 
+    4342           4 :   if (!is_initialized_) {
+    4343           0 :     return false;
+    4344             :   }
+    4345             : 
+    4346           4 :   if (failsafe_triggered_) {
+    4347             : 
+    4348           0 :     std::stringstream ss;
+    4349           0 :     ss << "can not activate failsafe, it is already active";
+    4350             : 
+    4351           0 :     res.message = ss.str();
+    4352           0 :     res.success = false;
+    4353             : 
+    4354           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4355             : 
+    4356           0 :     return true;
+    4357             :   }
+    4358             : 
+    4359           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4360             : 
+    4361           4 :   auto [success, message] = failsafe();
+    4362             : 
+    4363           4 :   res.success = success;
+    4364           4 :   res.message = message;
+    4365             : 
+    4366           4 :   return true;
+    4367             : }
+    4368             : 
+    4369             : //}
+    4370             : 
+    4371             : /* callbackFailsafeEscalating() //{ */
+    4372             : 
+    4373           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4374             : 
+    4375           7 :   if (!is_initialized_) {
+    4376           0 :     return false;
+    4377             :   }
+    4378             : 
+    4379           7 :   if (_service_escalating_failsafe_enabled_) {
+    4380             : 
+    4381           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4382             : 
+    4383          14 :     auto [success, message] = escalatingFailsafe();
+    4384             : 
+    4385           7 :     res.success = success;
+    4386           7 :     res.message = message;
+    4387             : 
+    4388             :   } else {
+    4389             : 
+    4390           0 :     std::stringstream ss;
+    4391           0 :     ss << "escalating failsafe is disabled";
+    4392             : 
+    4393           0 :     res.success = false;
+    4394           0 :     res.message = ss.str();
+    4395             : 
+    4396           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4397             :   }
+    4398             : 
+    4399           7 :   return true;
+    4400             : }
+    4401             : 
+    4402             : //}
+    4403             : 
+    4404             : /* //{ callbackELand() */
+    4405             : 
+    4406           2 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4407             : 
+    4408           2 :   if (!is_initialized_) {
+    4409           0 :     return false;
+    4410             :   }
+    4411             : 
+    4412           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4413             : 
+    4414           2 :   auto [success, message] = eland();
+    4415             : 
+    4416           2 :   res.success = success;
+    4417           2 :   res.message = message;
+    4418             : 
+    4419           2 :   return true;
+    4420             : }
+    4421             : 
+    4422             : //}
+    4423             : 
+    4424             : /* //{ callbackParachute() */
+    4425             : 
+    4426           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4427             : 
+    4428           0 :   if (!is_initialized_) {
+    4429           0 :     return false;
+    4430             :   }
+    4431             : 
+    4432           0 :   if (!_parachute_enabled_) {
+    4433             : 
+    4434           0 :     std::stringstream ss;
+    4435           0 :     ss << "parachute disabled";
+    4436           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4437           0 :     res.message = ss.str();
+    4438           0 :     res.success = false;
+    4439             :   }
+    4440             : 
+    4441           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4442             : 
+    4443           0 :   auto [success, message] = deployParachute();
+    4444             : 
+    4445           0 :   res.success = success;
+    4446           0 :   res.message = message;
+    4447             : 
+    4448           0 :   return true;
+    4449             : }
+    4450             : 
+    4451             : //}
+    4452             : 
+    4453             : /* //{ callbackSetMinZ() */
+    4454             : 
+    4455           0 : bool ControlManager::callbackSetMinZ([[maybe_unused]] mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res) {
+    4456             : 
+    4457           0 :   if (!is_initialized_) {
+    4458           0 :     return false;
+    4459             :   }
+    4460             : 
+    4461           0 :   if (!use_safety_area_) {
+    4462           0 :     res.success = true;
+    4463           0 :     res.message = "safety area is disabled";
+    4464           0 :     return true;
+    4465             :   }
+    4466             : 
+    4467             :   // | -------- transform min_z to the safety area frame -------- |
+    4468             : 
+    4469           0 :   mrs_msgs::ReferenceStamped point;
+    4470           0 :   point.header               = req.header;
+    4471           0 :   point.reference.position.z = req.value;
+    4472             : 
+    4473           0 :   auto result = transformer_->transformSingle(point, _safety_area_vertical_frame_);
+    4474             : 
+    4475           0 :   if (result) {
+    4476             : 
+    4477           0 :     _safety_area_min_z_ = result.value().reference.position.z;
+    4478             : 
+    4479           0 :     res.success = true;
+    4480           0 :     res.message = "safety area's min z updated";
+    4481             : 
+    4482             :   } else {
+    4483             : 
+    4484           0 :     res.success = false;
+    4485           0 :     res.message = "could not transform the value to safety area's vertical frame";
+    4486             :   }
+    4487             : 
+    4488           0 :   return true;
+    4489             : }
+    4490             : 
+    4491             : //}
+    4492             : 
+    4493             : /* //{ callbackToggleOutput() */
+    4494             : 
+    4495         109 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4496             : 
+    4497         109 :   if (!is_initialized_) {
+    4498           0 :     return false;
+    4499             :   }
+    4500             : 
+    4501         109 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4502             : 
+    4503             :   // copy member variables
+    4504         218 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4505             : 
+    4506         218 :   std::stringstream ss;
+    4507             : 
+    4508         109 :   bool prereq_check = true;
+    4509             : 
+    4510             :   {
+    4511         218 :     mrs_msgs::ReferenceStamped current_coord;
+    4512         109 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4513         109 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4514         109 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4515             : 
+    4516         109 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4517           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4518           1 :       prereq_check = false;
+    4519             :     }
+    4520             :   }
+    4521             : 
+    4522         109 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4523           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4524           0 :     prereq_check = false;
+    4525             :   }
+    4526             : 
+    4527         109 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4528           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4529           0 :     prereq_check = false;
+    4530             :   }
+    4531             : 
+    4532         109 :   if (!prereq_check) {
+    4533             : 
+    4534           1 :     res.message = ss.str();
+    4535           1 :     res.success = false;
+    4536             : 
+    4537           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4538             : 
+    4539           1 :     return false;
+    4540             : 
+    4541             :   } else {
+    4542             : 
+    4543         108 :     toggleOutput(req.data);
+    4544             : 
+    4545         108 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4546         108 :     res.message = ss.str();
+    4547         108 :     res.success = true;
+    4548             : 
+    4549         108 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4550             : 
+    4551         108 :     publishDiagnostics();
+    4552             : 
+    4553         108 :     return true;
+    4554             :   }
+    4555             : }
+    4556             : 
+    4557             : //}
+    4558             : 
+    4559             : /* callbackArm() //{ */
+    4560             : 
+    4561           7 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4562             : 
+    4563           7 :   if (!is_initialized_) {
+    4564           0 :     return false;
+    4565             :   }
+    4566             : 
+    4567           7 :   ROS_INFO("[ControlManager]: arming by service");
+    4568             : 
+    4569          14 :   std::stringstream ss;
+    4570             : 
+    4571           7 :   if (failsafe_triggered_ || eland_triggered_) {
+    4572             : 
+    4573           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4574             : 
+    4575           0 :     res.message = ss.str();
+    4576           0 :     res.success = false;
+    4577             : 
+    4578           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4579             : 
+    4580           0 :     return true;
+    4581             :   }
+    4582             : 
+    4583           7 :   if (req.data) {
+    4584             : 
+    4585           0 :     ss << "this service is not allowed to arm the UAV";
+    4586           0 :     res.success = false;
+    4587           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4588             : 
+    4589             :   } else {
+    4590             : 
+    4591          14 :     auto [success, message] = arming(false);
+    4592             : 
+    4593           7 :     if (success) {
+    4594             : 
+    4595           7 :       ss << "disarmed";
+    4596           7 :       res.success = true;
+    4597           7 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4598             : 
+    4599             :     } else {
+    4600             : 
+    4601           0 :       ss << "could not disarm: " << message;
+    4602           0 :       res.success = false;
+    4603           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4604             :     }
+    4605             :   }
+    4606             : 
+    4607           7 :   res.message = ss.str();
+    4608             : 
+    4609           7 :   return true;
+    4610             : }
+    4611             : 
+    4612             : //}
+    4613             : 
+    4614             : /* //{ callbackEnableCallbacks() */
+    4615             : 
+    4616         101 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4617             : 
+    4618         101 :   if (!is_initialized_) {
+    4619           0 :     return false;
+    4620             :   }
+    4621             : 
+    4622         101 :   setCallbacks(req.data);
+    4623             : 
+    4624         101 :   std::stringstream ss;
+    4625             : 
+    4626         101 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4627             : 
+    4628         101 :   res.message = ss.str();
+    4629         101 :   res.success = true;
+    4630             : 
+    4631         101 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4632             : 
+    4633         101 :   return true;
+    4634             : }
+    4635             : 
+    4636             : //}
+    4637             : 
+    4638             : /* callbackSetConstraints() //{ */
+    4639             : 
+    4640         111 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4641             : 
+    4642         111 :   if (!is_initialized_) {
+    4643           0 :     res.message = "not initialized";
+    4644           0 :     res.success = false;
+    4645           0 :     return true;
+    4646             :   }
+    4647             : 
+    4648             :   {
+    4649         222 :     std::scoped_lock lock(mutex_constraints_);
+    4650             : 
+    4651         111 :     current_constraints_ = req;
+    4652             : 
+    4653         111 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4654             : 
+    4655         111 :     if (enforced) {
+    4656           0 :       sanitized_constraints_      = enforced.value();
+    4657           0 :       constraints_being_enforced_ = true;
+    4658             :     } else {
+    4659         111 :       sanitized_constraints_      = req;
+    4660         111 :       constraints_being_enforced_ = false;
+    4661             :     }
+    4662             : 
+    4663         111 :     got_constraints_ = true;
+    4664             : 
+    4665         111 :     setConstraintsToControllers(current_constraints_);
+    4666         111 :     setConstraintsToTrackers(sanitized_constraints_);
+    4667             :   }
+    4668             : 
+    4669         111 :   res.message = "setting constraints";
+    4670         111 :   res.success = true;
+    4671             : 
+    4672         111 :   return true;
+    4673             : }
+    4674             : 
+    4675             : //}
+    4676             : 
+    4677             : /* //{ callbackEmergencyReference() */
+    4678             : 
+    4679         100 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4680             : 
+    4681         100 :   if (!is_initialized_) {
+    4682           0 :     return false;
+    4683             :   }
+    4684             : 
+    4685         200 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4686             : 
+    4687         100 :   callbacks_enabled_ = false;
+    4688             : 
+    4689         100 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4690             : 
+    4691         200 :   std::stringstream ss;
+    4692             : 
+    4693             :   // transform the reference to the current frame
+    4694         200 :   mrs_msgs::ReferenceStamped original_reference;
+    4695         100 :   original_reference.header    = req.header;
+    4696         100 :   original_reference.reference = req.reference;
+    4697             : 
+    4698         200 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4699             : 
+    4700         100 :   if (!ret) {
+    4701             : 
+    4702           0 :     ss << "the emergency reference could not be transformed";
+    4703             : 
+    4704           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4705           0 :     res.message = ss.str();
+    4706           0 :     res.success = false;
+    4707           0 :     return true;
+    4708             :   }
+    4709             : 
+    4710         100 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4711             : 
+    4712         100 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4713             : 
+    4714         100 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4715         100 :   req_goto_out.reference = transformed_reference.reference;
+    4716             : 
+    4717             :   {
+    4718         200 :     std::scoped_lock lock(mutex_tracker_list_);
+    4719             : 
+    4720             :     // disable callbacks of all trackers
+    4721         100 :     req_enable_callbacks.data = false;
+    4722         700 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4723         600 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4724             :     }
+    4725             : 
+    4726             :     // enable the callbacks for the active tracker
+    4727         100 :     req_enable_callbacks.data = true;
+    4728         100 :     tracker_list_.at(active_tracker_idx_)
+    4729         100 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4730             : 
+    4731             :     // call the setReference()
+    4732         100 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    4733         100 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4734             : 
+    4735             :     // disable the callbacks back again
+    4736         100 :     req_enable_callbacks.data = false;
+    4737         100 :     tracker_list_.at(active_tracker_idx_)
+    4738         100 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4739             : 
+    4740         100 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4741         100 :       res.message = tracker_response->message;
+    4742         100 :       res.success = tracker_response->success;
+    4743             :     } else {
+    4744           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    4745           0 :       res.message = ss.str();
+    4746           0 :       res.success = false;
+    4747             :     }
+    4748             :   }
+    4749             : 
+    4750         100 :   return true;
+    4751             : }
+    4752             : 
+    4753             : //}
+    4754             : 
+    4755             : /* callbackPirouette() //{ */
+    4756             : 
+    4757           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4758             : 
+    4759           0 :   if (!is_initialized_) {
+    4760           0 :     return false;
+    4761             :   }
+    4762             : 
+    4763             :   // copy member variables
+    4764           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4765             : 
+    4766             :   double uav_heading;
+    4767             :   try {
+    4768           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4769             :   }
+    4770           0 :   catch (...) {
+    4771           0 :     std::stringstream ss;
+    4772           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4773             : 
+    4774           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4775             : 
+    4776           0 :     res.message = ss.str();
+    4777           0 :     res.success = false;
+    4778             : 
+    4779           0 :     return false;
+    4780             :   }
+    4781             : 
+    4782           0 :   if (_pirouette_enabled_) {
+    4783           0 :     res.success = false;
+    4784           0 :     res.message = "already active";
+    4785           0 :     return true;
+    4786             :   }
+    4787             : 
+    4788           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4789             : 
+    4790           0 :     std::stringstream ss;
+    4791           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4792             : 
+    4793           0 :     res.message = ss.str();
+    4794           0 :     res.success = false;
+    4795             : 
+    4796           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4797             : 
+    4798           0 :     return true;
+    4799             :   }
+    4800             : 
+    4801           0 :   _pirouette_enabled_ = true;
+    4802             : 
+    4803           0 :   setCallbacks(false);
+    4804             : 
+    4805           0 :   pirouette_initial_heading_ = uav_heading;
+    4806           0 :   pirouette_iterator_        = 0;
+    4807           0 :   timer_pirouette_.start();
+    4808             : 
+    4809           0 :   res.success = true;
+    4810           0 :   res.message = "activated";
+    4811             : 
+    4812           0 :   return true;
+    4813             : }
+    4814             : 
+    4815             : //}
+    4816             : 
+    4817             : /* callbackUseJoystick() //{ */
+    4818             : 
+    4819           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4820             : 
+    4821           0 :   if (!is_initialized_) {
+    4822           0 :     return false;
+    4823             :   }
+    4824             : 
+    4825           0 :   std::stringstream ss;
+    4826             : 
+    4827             :   {
+    4828           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4829             : 
+    4830           0 :     if (!success) {
+    4831             : 
+    4832           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4833           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4834             : 
+    4835           0 :       res.success = false;
+    4836           0 :       res.message = ss.str();
+    4837             : 
+    4838           0 :       return true;
+    4839             :     }
+    4840             :   }
+    4841             : 
+    4842           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4843             : 
+    4844           0 :   if (!success) {
+    4845             : 
+    4846           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4847           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4848             : 
+    4849           0 :     res.success = false;
+    4850           0 :     res.message = ss.str();
+    4851             : 
+    4852             :     // switch back to hover tracker
+    4853           0 :     switchTracker(_ehover_tracker_name_);
+    4854             : 
+    4855             :     // switch back to safety controller
+    4856           0 :     switchController(_eland_controller_name_);
+    4857             : 
+    4858           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4859             : 
+    4860           0 :     return true;
+    4861             :   }
+    4862             : 
+    4863           0 :   ss << "switched to joystick control";
+    4864             : 
+    4865           0 :   res.success = true;
+    4866           0 :   res.message = ss.str();
+    4867             : 
+    4868           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4869             : 
+    4870           0 :   return true;
+    4871             : }
+    4872             : 
+    4873             : //}
+    4874             : 
+    4875             : /* //{ callbackHover() */
+    4876             : 
+    4877           1 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4878             : 
+    4879           1 :   if (!is_initialized_) {
+    4880           0 :     return false;
+    4881             :   }
+    4882             : 
+    4883           1 :   auto [success, message] = hover();
+    4884             : 
+    4885           1 :   res.success = success;
+    4886           1 :   res.message = message;
+    4887             : 
+    4888           1 :   return true;
+    4889             : }
+    4890             : 
+    4891             : //}
+    4892             : 
+    4893             : /* //{ callbackStartTrajectoryTracking() */
+    4894             : 
+    4895           2 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4896             : 
+    4897           2 :   if (!is_initialized_) {
+    4898           0 :     return false;
+    4899             :   }
+    4900             : 
+    4901           2 :   auto [success, message] = startTrajectoryTracking();
+    4902             : 
+    4903           2 :   res.success = success;
+    4904           2 :   res.message = message;
+    4905             : 
+    4906           2 :   return true;
+    4907             : }
+    4908             : 
+    4909             : //}
+    4910             : 
+    4911             : /* //{ callbackStopTrajectoryTracking() */
+    4912             : 
+    4913           1 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4914             : 
+    4915           1 :   if (!is_initialized_) {
+    4916           0 :     return false;
+    4917             :   }
+    4918             : 
+    4919           1 :   auto [success, message] = stopTrajectoryTracking();
+    4920             : 
+    4921           1 :   res.success = success;
+    4922           1 :   res.message = message;
+    4923             : 
+    4924           1 :   return true;
+    4925             : }
+    4926             : 
+    4927             : //}
+    4928             : 
+    4929             : /* //{ callbackResumeTrajectoryTracking() */
+    4930             : 
+    4931           1 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4932             : 
+    4933           1 :   if (!is_initialized_) {
+    4934           0 :     return false;
+    4935             :   }
+    4936             : 
+    4937           1 :   auto [success, message] = resumeTrajectoryTracking();
+    4938             : 
+    4939           1 :   res.success = success;
+    4940           1 :   res.message = message;
+    4941             : 
+    4942           1 :   return true;
+    4943             : }
+    4944             : 
+    4945             : //}
+    4946             : 
+    4947             : /* //{ callbackGotoTrajectoryStart() */
+    4948             : 
+    4949           2 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4950             : 
+    4951           2 :   if (!is_initialized_) {
+    4952           0 :     return false;
+    4953             :   }
+    4954             : 
+    4955           2 :   auto [success, message] = gotoTrajectoryStart();
+    4956             : 
+    4957           2 :   res.success = success;
+    4958           2 :   res.message = message;
+    4959             : 
+    4960           2 :   return true;
+    4961             : }
+    4962             : 
+    4963             : //}
+    4964             : 
+    4965             : /* //{ callbackTransformReference() */
+    4966             : 
+    4967           1 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4968             : 
+    4969           1 :   if (!is_initialized_) {
+    4970           0 :     return false;
+    4971             :   }
+    4972             : 
+    4973             :   // transform the reference to the current frame
+    4974           2 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4975             : 
+    4976           2 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4977             : 
+    4978           1 :     res.reference = ret.value();
+    4979           1 :     res.message   = "transformation successful";
+    4980           1 :     res.success   = true;
+    4981           1 :     return true;
+    4982             : 
+    4983             :   } else {
+    4984             : 
+    4985           0 :     res.message = "the reference could not be transformed";
+    4986           0 :     res.success = false;
+    4987           0 :     return true;
+    4988             :   }
+    4989             : 
+    4990             :   return true;
+    4991             : }
+    4992             : 
+    4993             : //}
+    4994             : 
+    4995             : /* //{ callbackTransformReferenceArray() */
+    4996             : 
+    4997           0 : bool ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrv::Request& req, mrs_msgs::TransformReferenceArraySrv::Response& res) {
+    4998             : 
+    4999           0 :   if (!is_initialized_) {
+    5000           0 :     return false;
+    5001             :   }
+    5002             : 
+    5003             :   // transform the reference array to the current frame
+    5004           0 :   const auto tf_opt = transformer_->getTransform(req.array.header.frame_id, req.to_frame_id, req.array.header.stamp);
+    5005           0 :   if (!tf_opt.has_value()) {
+    5006           0 :     res.message = "The reference array could not be transformed";
+    5007           0 :     res.success = false;
+    5008           0 :     return true;
+    5009             :   }
+    5010           0 :   const auto tf = tf_opt.value();
+    5011             : 
+    5012           0 :   res.array.header.stamp = req.array.header.stamp;
+    5013           0 :   res.array.header.frame_id = req.to_frame_id;
+    5014           0 :   res.array.array.reserve(req.array.array.size());
+    5015             : 
+    5016           0 :   for (const auto& ref : req.array.array) {
+    5017             : 
+    5018           0 :     mrs_msgs::ReferenceStamped ref_stamped; 
+    5019           0 :     ref_stamped.header = req.array.header;
+    5020           0 :     ref_stamped.reference = ref;
+    5021             : 
+    5022           0 :     if (auto ret = transformer_->transform(ref_stamped, tf)) {
+    5023             : 
+    5024           0 :       res.array.array.push_back(ret.value().reference);
+    5025             : 
+    5026             :     } else {
+    5027             : 
+    5028           0 :       res.message = "The reference array could not be transformed";
+    5029           0 :       res.success = false;
+    5030           0 :       return true;
+    5031             :     }
+    5032             : 
+    5033             :   }
+    5034             : 
+    5035           0 :   res.message   = "transformation successful";
+    5036           0 :   res.success   = true;
+    5037           0 :   return true;
+    5038             : }
+    5039             : 
+    5040             : //}
+    5041             : 
+    5042             : /* //{ callbackTransformPose() */
+    5043             : 
+    5044           1 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    5045             : 
+    5046           1 :   if (!is_initialized_) {
+    5047           0 :     return false;
+    5048             :   }
+    5049             : 
+    5050             :   // transform the reference to the current frame
+    5051           2 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    5052             : 
+    5053           2 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    5054             : 
+    5055           1 :     res.pose    = ret.value();
+    5056           1 :     res.message = "transformation successful";
+    5057           1 :     res.success = true;
+    5058           1 :     return true;
+    5059             : 
+    5060             :   } else {
+    5061             : 
+    5062           0 :     res.message = "the pose could not be transformed";
+    5063           0 :     res.success = false;
+    5064           0 :     return true;
+    5065             :   }
+    5066             : 
+    5067             :   return true;
+    5068             : }
+    5069             : 
+    5070             : //}
+    5071             : 
+    5072             : /* //{ callbackTransformVector3() */
+    5073             : 
+    5074           1 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    5075             : 
+    5076           1 :   if (!is_initialized_) {
+    5077           0 :     return false;
+    5078             :   }
+    5079             : 
+    5080             :   // transform the reference to the current frame
+    5081           2 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    5082             : 
+    5083           2 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    5084             : 
+    5085           1 :     res.vector  = ret.value();
+    5086           1 :     res.message = "transformation successful";
+    5087           1 :     res.success = true;
+    5088           1 :     return true;
+    5089             : 
+    5090             :   } else {
+    5091             : 
+    5092           0 :     res.message = "the twist could not be transformed";
+    5093           0 :     res.success = false;
+    5094           0 :     return true;
+    5095             :   }
+    5096             : 
+    5097             :   return true;
+    5098             : }
+    5099             : 
+    5100             : //}
+    5101             : 
+    5102             : /* //{ callbackEnableBumper() */
+    5103             : 
+    5104           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5105             : 
+    5106           0 :   if (!is_initialized_) {
+    5107           0 :     return false;
+    5108             :   }
+    5109             : 
+    5110           0 :   bumper_enabled_ = req.data;
+    5111             : 
+    5112           0 :   std::stringstream ss;
+    5113             : 
+    5114           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    5115             : 
+    5116           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5117             : 
+    5118           0 :   res.success = true;
+    5119           0 :   res.message = ss.str();
+    5120             : 
+    5121           0 :   return true;
+    5122             : }
+    5123             : 
+    5124             : //}
+    5125             : 
+    5126             : /* //{ callbackUseSafetyArea() */
+    5127             : 
+    5128           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5129             : 
+    5130           0 :   if (!is_initialized_) {
+    5131           0 :     return false;
+    5132             :   }
+    5133             : 
+    5134           0 :   use_safety_area_ = req.data;
+    5135             : 
+    5136           0 :   std::stringstream ss;
+    5137             : 
+    5138           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    5139             : 
+    5140           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5141             : 
+    5142           0 :   res.success = true;
+    5143           0 :   res.message = ss.str();
+    5144             : 
+    5145           0 :   return true;
+    5146             : }
+    5147             : 
+    5148             : //}
+    5149             : 
+    5150             : /* //{ callbackGetMinZ() */
+    5151             : 
+    5152           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    5153             : 
+    5154           0 :   if (!is_initialized_) {
+    5155           0 :     return false;
+    5156             :   }
+    5157             : 
+    5158           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5159             : 
+    5160           0 :   res.success = true;
+    5161           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    5162             : 
+    5163           0 :   return true;
+    5164             : }
+    5165             : 
+    5166             : //}
+    5167             : 
+    5168             : /* //{ callbackValidateReference() */
+    5169             : 
+    5170           4 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5171             : 
+    5172           4 :   if (!is_initialized_) {
+    5173           0 :     res.message = "not initialized";
+    5174           0 :     res.success = false;
+    5175           0 :     return true;
+    5176             :   }
+    5177             : 
+    5178           4 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5179           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5180           0 :     res.message = "NaNs/infs in input!";
+    5181           0 :     res.success = false;
+    5182           0 :     return true;
+    5183             :   }
+    5184             : 
+    5185             :   // copy member variables
+    5186           8 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5187           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5188             : 
+    5189             :   // transform the reference to the current frame
+    5190           8 :   mrs_msgs::ReferenceStamped original_reference;
+    5191           4 :   original_reference.header    = req.reference.header;
+    5192           4 :   original_reference.reference = req.reference.reference;
+    5193             : 
+    5194           8 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5195             : 
+    5196           4 :   if (!ret) {
+    5197             : 
+    5198           1 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5199           1 :     res.message = "the reference could not be transformed";
+    5200           1 :     res.success = false;
+    5201           1 :     return true;
+    5202             :   }
+    5203             : 
+    5204           6 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5205             : 
+    5206           3 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5207           2 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5208           2 :     res.message = "the point is outside of the safety area";
+    5209           2 :     res.success = false;
+    5210           2 :     return true;
+    5211             :   }
+    5212             : 
+    5213           1 :   if (last_tracker_cmd) {
+    5214             : 
+    5215           1 :     mrs_msgs::ReferenceStamped from_point;
+    5216           1 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5217           1 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5218           1 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5219           1 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5220             : 
+    5221           1 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5222           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5223           0 :       res.message = "the path is going outside the safety area";
+    5224           0 :       res.success = false;
+    5225           0 :       return true;
+    5226             :     }
+    5227             :   }
+    5228             : 
+    5229           1 :   res.message = "the reference is ok";
+    5230           1 :   res.success = true;
+    5231           1 :   return true;
+    5232             : }
+    5233             : 
+    5234             : //}
+    5235             : 
+    5236             : /* //{ callbackValidateReference2d() */
+    5237             : 
+    5238        9364 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5239             : 
+    5240        9364 :   if (!is_initialized_) {
+    5241           0 :     res.message = "not initialized";
+    5242           0 :     res.success = false;
+    5243           0 :     return true;
+    5244             :   }
+    5245             : 
+    5246        9364 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5247           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5248           0 :     res.message = "NaNs/infs in input!";
+    5249           0 :     res.success = false;
+    5250           0 :     return true;
+    5251             :   }
+    5252             : 
+    5253             :   // copy member variables
+    5254       18728 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5255       18728 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5256             : 
+    5257             :   // transform the reference to the current frame
+    5258       18728 :   mrs_msgs::ReferenceStamped original_reference;
+    5259        9364 :   original_reference.header    = req.reference.header;
+    5260        9364 :   original_reference.reference = req.reference.reference;
+    5261             : 
+    5262       18728 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5263             : 
+    5264        9364 :   if (!ret) {
+    5265             : 
+    5266           1 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5267           1 :     res.message = "the reference could not be transformed";
+    5268           1 :     res.success = false;
+    5269           1 :     return true;
+    5270             :   }
+    5271             : 
+    5272       18726 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5273             : 
+    5274        9363 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5275          73 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5276          73 :     res.message = "the point is outside of the safety area";
+    5277          73 :     res.success = false;
+    5278          73 :     return true;
+    5279             :   }
+    5280             : 
+    5281        9290 :   if (last_tracker_cmd) {
+    5282             : 
+    5283           0 :     mrs_msgs::ReferenceStamped from_point;
+    5284           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5285           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5286           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5287           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5288             : 
+    5289           0 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5290           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5291           0 :       res.message = "the path is going outside the safety area";
+    5292           0 :       res.success = false;
+    5293           0 :       return true;
+    5294             :     }
+    5295             :   }
+    5296             : 
+    5297        9290 :   res.message = "the reference is ok";
+    5298        9290 :   res.success = true;
+    5299        9290 :   return true;
+    5300             : }
+    5301             : 
+    5302             : //}
+    5303             : 
+    5304             : /* //{ callbackValidateReferenceArray() */
+    5305             : 
+    5306           2 : bool ControlManager::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArray::Request& req, mrs_msgs::ValidateReferenceArray::Response& res) {
+    5307             : 
+    5308           2 :   if (!is_initialized_) {
+    5309           0 :     res.message = "not initialized";
+    5310           0 :     return false;
+    5311             :   }
+    5312             : 
+    5313             :   // copy member variables
+    5314           4 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5315           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5316             : 
+    5317             :   // get the transformer
+    5318           4 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.array.header.frame_id, req.array.header.stamp);
+    5319             : 
+    5320           2 :   if (!ret) {
+    5321             : 
+    5322           1 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5323           1 :     res.message = "could not find transform";
+    5324           1 :     return false;
+    5325             :   }
+    5326             : 
+    5327           1 :   geometry_msgs::TransformStamped tf = ret.value();
+    5328             : 
+    5329           5 :   for (int i = 0; i < int(req.array.array.size()); i++) {
+    5330             : 
+    5331           4 :     res.success.push_back(true);
+    5332             : 
+    5333           8 :     mrs_msgs::ReferenceStamped original_reference;
+    5334           4 :     original_reference.header    = req.array.header;
+    5335           4 :     original_reference.reference = req.array.array.at(i);
+    5336             : 
+    5337           4 :     res.success.at(i) = validateReference(original_reference.reference, "ControlManager", "reference_array");
+    5338             : 
+    5339           8 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5340             : 
+    5341           4 :     if (!ret) {
+    5342             : 
+    5343           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5344           0 :       res.success.at(i) = false;
+    5345             :     }
+    5346             : 
+    5347           8 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5348             : 
+    5349           4 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5350           2 :       res.success.at(i) = false;
+    5351             :     }
+    5352             : 
+    5353           4 :     if (last_tracker_cmd) {
+    5354             : 
+    5355           8 :       mrs_msgs::ReferenceStamped from_point;
+    5356           4 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5357           4 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5358           4 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5359           4 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5360             : 
+    5361           4 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5362           2 :         res.success.at(i) = false;
+    5363             :       }
+    5364             :     }
+    5365             :   }
+    5366             : 
+    5367           1 :   res.message = "references were checked";
+    5368           1 :   return true;
+    5369             : }
+    5370             : 
+    5371             : //}
+    5372             : 
+    5373             : // | -------------- setpoint topics and services -------------- |
+    5374             : 
+    5375             : /* //{ callbackReferenceService() */
+    5376             : 
+    5377           2 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5378             : 
+    5379           2 :   if (!is_initialized_) {
+    5380           0 :     res.message = "not initialized";
+    5381           0 :     res.success = false;
+    5382           0 :     return true;
+    5383             :   }
+    5384             : 
+    5385           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5386           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5387             : 
+    5388           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5389           2 :   des_reference.header    = req.header;
+    5390           2 :   des_reference.reference = req.reference;
+    5391             : 
+    5392           4 :   auto [success, message] = setReference(des_reference);
+    5393             : 
+    5394           2 :   res.success = success;
+    5395           2 :   res.message = message;
+    5396             : 
+    5397           2 :   return true;
+    5398             : }
+    5399             : 
+    5400             : //}
+    5401             : 
+    5402             : /* //{ callbackReferenceTopic() */
+    5403             : 
+    5404           1 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5405             : 
+    5406           1 :   if (!is_initialized_) {
+    5407           0 :     return;
+    5408             :   }
+    5409             : 
+    5410           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5411           2 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5412             : 
+    5413           1 :   setReference(*msg);
+    5414             : }
+    5415             : 
+    5416             : //}
+    5417             : 
+    5418             : /* //{ callbackVelocityReferenceService() */
+    5419             : 
+    5420         731 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5421             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5422             : 
+    5423         731 :   if (!is_initialized_) {
+    5424           0 :     res.message = "not initialized";
+    5425           0 :     res.success = false;
+    5426           0 :     return true;
+    5427             :   }
+    5428             : 
+    5429        2193 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5430        2193 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5431             : 
+    5432        1462 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5433         731 :   des_reference = req.reference;
+    5434             : 
+    5435         731 :   auto [success, message] = setVelocityReference(des_reference);
+    5436             : 
+    5437         731 :   res.success = success;
+    5438         731 :   res.message = message;
+    5439             : 
+    5440         731 :   return true;
+    5441             : }
+    5442             : 
+    5443             : //}
+    5444             : 
+    5445             : /* //{ callbackVelocityReferenceTopic() */
+    5446             : 
+    5447          91 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5448             : 
+    5449          91 :   if (!is_initialized_) {
+    5450           0 :     return;
+    5451             :   }
+    5452             : 
+    5453         273 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5454         182 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5455             : 
+    5456          91 :   setVelocityReference(*msg);
+    5457             : }
+    5458             : 
+    5459             : //}
+    5460             : 
+    5461             : /* //{ callbackTrajectoryReferenceService() */
+    5462             : 
+    5463           4 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5464             : 
+    5465           4 :   if (!is_initialized_) {
+    5466           0 :     res.message = "not initialized";
+    5467           0 :     res.success = false;
+    5468           0 :     return true;
+    5469             :   }
+    5470             : 
+    5471          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5472          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5473             : 
+    5474           8 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5475             : 
+    5476           4 :   res.success          = success;
+    5477           4 :   res.message          = message;
+    5478           4 :   res.modified         = modified;
+    5479           4 :   res.tracker_names    = tracker_names;
+    5480           4 :   res.tracker_messages = tracker_messages;
+    5481             : 
+    5482          28 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5483          24 :     res.tracker_successes.push_back(tracker_successes.at(i));
+    5484             :   }
+    5485             : 
+    5486           4 :   return true;
+    5487             : }
+    5488             : 
+    5489             : //}
+    5490             : 
+    5491             : /* //{ callbackTrajectoryReferenceTopic() */
+    5492             : 
+    5493           2 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5494             : 
+    5495           2 :   if (!is_initialized_) {
+    5496           0 :     return;
+    5497             :   }
+    5498             : 
+    5499           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5500           4 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5501             : 
+    5502           2 :   setTrajectoryReference(*msg);
+    5503             : }
+    5504             : 
+    5505             : //}
+    5506             : 
+    5507             : // | ------------- human-callable "goto" services ------------- |
+    5508             : 
+    5509             : /* //{ callbackGoto() */
+    5510             : 
+    5511          27 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5512             : 
+    5513          27 :   if (!is_initialized_) {
+    5514           0 :     res.message = "not initialized";
+    5515           0 :     res.success = false;
+    5516           0 :     return true;
+    5517             :   }
+    5518             : 
+    5519          81 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5520          81 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5521             : 
+    5522          54 :   mrs_msgs::ReferenceStamped des_reference;
+    5523          27 :   des_reference.header.frame_id      = "";
+    5524          27 :   des_reference.header.stamp         = ros::Time(0);
+    5525          27 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5526          27 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5527          27 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5528          27 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5529             : 
+    5530          54 :   auto [success, message] = setReference(des_reference);
+    5531             : 
+    5532          27 :   res.success = success;
+    5533          27 :   res.message = message;
+    5534             : 
+    5535          27 :   return true;
+    5536             : }
+    5537             : 
+    5538             : //}
+    5539             : 
+    5540             : /* //{ callbackGotoFcu() */
+    5541             : 
+    5542           1 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5543             : 
+    5544           1 :   if (!is_initialized_) {
+    5545           0 :     res.message = "not initialized";
+    5546           0 :     res.success = false;
+    5547           0 :     return true;
+    5548             :   }
+    5549             : 
+    5550           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5551           3 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5552             : 
+    5553           2 :   mrs_msgs::ReferenceStamped des_reference;
+    5554           1 :   des_reference.header.frame_id      = "fcu_untilted";
+    5555           1 :   des_reference.header.stamp         = ros::Time(0);
+    5556           1 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5557           1 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5558           1 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5559           1 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5560             : 
+    5561           2 :   auto [success, message] = setReference(des_reference);
+    5562             : 
+    5563           1 :   res.success = success;
+    5564           1 :   res.message = message;
+    5565             : 
+    5566           1 :   return true;
+    5567             : }
+    5568             : 
+    5569             : //}
+    5570             : 
+    5571             : /* //{ callbackGotoRelative() */
+    5572             : 
+    5573          25 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5574             : 
+    5575          25 :   if (!is_initialized_) {
+    5576           0 :     res.message = "not initialized";
+    5577           0 :     res.success = false;
+    5578           0 :     return true;
+    5579             :   }
+    5580             : 
+    5581          75 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5582          75 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5583             : 
+    5584          50 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5585             : 
+    5586          25 :   if (!last_tracker_cmd) {
+    5587           0 :     res.message = "not flying";
+    5588           0 :     res.success = false;
+    5589           0 :     return true;
+    5590             :   }
+    5591             : 
+    5592          50 :   mrs_msgs::ReferenceStamped des_reference;
+    5593          25 :   des_reference.header.frame_id      = "";
+    5594          25 :   des_reference.header.stamp         = ros::Time(0);
+    5595          25 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal.at(REF_X);
+    5596          25 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal.at(REF_Y);
+    5597          25 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal.at(REF_Z);
+    5598          25 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal.at(REF_HEADING);
+    5599             : 
+    5600          50 :   auto [success, message] = setReference(des_reference);
+    5601             : 
+    5602          25 :   res.success = success;
+    5603          25 :   res.message = message;
+    5604             : 
+    5605          25 :   return true;
+    5606             : }
+    5607             : 
+    5608             : //}
+    5609             : 
+    5610             : /* //{ callbackGotoAltitude() */
+    5611             : 
+    5612           2 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5613             : 
+    5614           2 :   if (!is_initialized_) {
+    5615           0 :     res.message = "not initialized";
+    5616           0 :     res.success = false;
+    5617           0 :     return true;
+    5618             :   }
+    5619             : 
+    5620           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5621           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5622             : 
+    5623           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5624             : 
+    5625           2 :   if (!last_tracker_cmd) {
+    5626           0 :     res.message = "not flying";
+    5627           0 :     res.success = false;
+    5628           0 :     return true;
+    5629             :   }
+    5630             : 
+    5631           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5632           2 :   des_reference.header.frame_id      = "";
+    5633           2 :   des_reference.header.stamp         = ros::Time(0);
+    5634           2 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5635           2 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5636           2 :   des_reference.reference.position.z = req.goal;
+    5637           2 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5638             : 
+    5639           4 :   auto [success, message] = setReference(des_reference);
+    5640             : 
+    5641           2 :   res.success = success;
+    5642           2 :   res.message = message;
+    5643             : 
+    5644           2 :   return true;
+    5645             : }
+    5646             : 
+    5647             : //}
+    5648             : 
+    5649             : /* //{ callbackSetHeading() */
+    5650             : 
+    5651           4 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5652             : 
+    5653           4 :   if (!is_initialized_) {
+    5654           0 :     res.message = "not initialized";
+    5655           0 :     res.success = false;
+    5656           0 :     return true;
+    5657             :   }
+    5658             : 
+    5659          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5660          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5661             : 
+    5662           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5663             : 
+    5664           4 :   if (!last_tracker_cmd) {
+    5665           0 :     res.message = "not flying";
+    5666           0 :     res.success = false;
+    5667           0 :     return true;
+    5668             :   }
+    5669             : 
+    5670           8 :   mrs_msgs::ReferenceStamped des_reference;
+    5671           4 :   des_reference.header.frame_id      = "";
+    5672           4 :   des_reference.header.stamp         = ros::Time(0);
+    5673           4 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5674           4 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5675           4 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5676           4 :   des_reference.reference.heading    = req.goal;
+    5677             : 
+    5678           8 :   auto [success, message] = setReference(des_reference);
+    5679             : 
+    5680           4 :   res.success = success;
+    5681           4 :   res.message = message;
+    5682             : 
+    5683           4 :   return true;
+    5684             : }
+    5685             : 
+    5686             : //}
+    5687             : 
+    5688             : /* //{ callbackSetHeadingRelative() */
+    5689             : 
+    5690           3 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5691             : 
+    5692           3 :   if (!is_initialized_) {
+    5693           0 :     res.message = "not initialized";
+    5694           0 :     res.success = false;
+    5695           0 :     return true;
+    5696             :   }
+    5697             : 
+    5698           9 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5699           9 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5700             : 
+    5701           6 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5702             : 
+    5703           3 :   if (!last_tracker_cmd) {
+    5704           0 :     res.message = "not flying";
+    5705           0 :     res.success = false;
+    5706           0 :     return true;
+    5707             :   }
+    5708             : 
+    5709           6 :   mrs_msgs::ReferenceStamped des_reference;
+    5710           3 :   des_reference.header.frame_id      = "";
+    5711           3 :   des_reference.header.stamp         = ros::Time(0);
+    5712           3 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5713           3 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5714           3 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5715           3 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5716             : 
+    5717           6 :   auto [success, message] = setReference(des_reference);
+    5718             : 
+    5719           3 :   res.success = success;
+    5720           3 :   res.message = message;
+    5721             : 
+    5722           3 :   return true;
+    5723             : }
+    5724             : 
+    5725             : //}
+    5726             : 
+    5727             : // --------------------------------------------------------------
+    5728             : // |                          routines                          |
+    5729             : // --------------------------------------------------------------
+    5730             : 
+    5731             : /* setReference() //{ */
+    5732             : 
+    5733          65 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5734             : 
+    5735         130 :   std::stringstream ss;
+    5736             : 
+    5737          65 :   if (!callbacks_enabled_) {
+    5738           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5739           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5740           0 :     return std::tuple(false, ss.str());
+    5741             :   }
+    5742             : 
+    5743          65 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5744           0 :     ss << "incoming reference is not finite!!!";
+    5745           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5746           0 :     return std::tuple(false, ss.str());
+    5747             :   }
+    5748             : 
+    5749             :   // copy member variables
+    5750         130 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5751         130 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5752             : 
+    5753             :   // transform the reference to the current frame
+    5754         130 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5755             : 
+    5756          65 :   if (!ret) {
+    5757             : 
+    5758           0 :     ss << "the reference could not be transformed";
+    5759           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5760           0 :     return std::tuple(false, ss.str());
+    5761             :   }
+    5762             : 
+    5763         130 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5764             : 
+    5765             :   // safety area check
+    5766          65 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5767           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5768           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5769           0 :     return std::tuple(false, ss.str());
+    5770             :   }
+    5771             : 
+    5772          65 :   if (last_tracker_cmd) {
+    5773             : 
+    5774          65 :     mrs_msgs::ReferenceStamped from_point;
+    5775          65 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5776          65 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5777          65 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5778          65 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5779             : 
+    5780          65 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5781           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5782           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5783           0 :       return std::tuple(false, ss.str());
+    5784             :     }
+    5785             :   }
+    5786             : 
+    5787          65 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5788             : 
+    5789             :   // prepare the message for current tracker
+    5790          65 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5791          65 :   reference_request.reference = transformed_reference.reference;
+    5792             : 
+    5793             :   {
+    5794         130 :     std::scoped_lock lock(mutex_tracker_list_);
+    5795             : 
+    5796          65 :     ROS_INFO("[ControlManager]: setting reference to x=%.2f, y=%.2f, z=%.2f, hdg=%.2f (expressed in '%s')", reference_request.reference.position.x,
+    5797             :              reference_request.reference.position.y, reference_request.reference.position.z, reference_request.reference.heading,
+    5798             :              transformed_reference.header.frame_id.c_str());
+    5799             : 
+    5800          65 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    5801          65 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5802             : 
+    5803          65 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5804             : 
+    5805         130 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5806             : 
+    5807             :     } else {
+    5808             : 
+    5809           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    5810           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5811           0 :       return std::tuple(false, ss.str());
+    5812             :     }
+    5813             :   }
+    5814             : }
+    5815             : 
+    5816             : //}
+    5817             : 
+    5818             : /* setVelocityReference() //{ */
+    5819             : 
+    5820         822 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5821             : 
+    5822        1644 :   std::stringstream ss;
+    5823             : 
+    5824         822 :   if (!callbacks_enabled_) {
+    5825           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5826           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5827           0 :     return std::tuple(false, ss.str());
+    5828             :   }
+    5829             : 
+    5830         822 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5831           0 :     ss << "velocity command is not valid!";
+    5832           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5833           0 :     return std::tuple(false, ss.str());
+    5834             :   }
+    5835             : 
+    5836             :   {
+    5837         822 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5838             : 
+    5839         822 :     if (!last_tracker_cmd_) {
+    5840           0 :       ss << "could not set velocity command, not flying!";
+    5841           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5842           0 :       return std::tuple(false, ss.str());
+    5843             :     }
+    5844             :   }
+    5845             : 
+    5846             :   // copy member variables
+    5847        1644 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5848        1644 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5849             : 
+    5850             :   // | -- transform the velocity reference to the current frame - |
+    5851             : 
+    5852        1644 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5853             : 
+    5854        1644 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5855             : 
+    5856        1644 :   geometry_msgs::TransformStamped tf;
+    5857             : 
+    5858         822 :   if (!ret) {
+    5859           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5860           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5861           0 :     return std::tuple(false, ss.str());
+    5862             :   } else {
+    5863         822 :     tf = ret.value();
+    5864             :   }
+    5865             : 
+    5866             :   // transform the velocity
+    5867             :   {
+    5868         822 :     geometry_msgs::Vector3Stamped velocity;
+    5869         822 :     velocity.header   = reference_in.header;
+    5870         822 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5871         822 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5872         822 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5873             : 
+    5874         822 :     auto ret = transformer_->transform(velocity, tf);
+    5875             : 
+    5876         822 :     if (!ret) {
+    5877             : 
+    5878           0 :       ss << "the velocity reference could not be transformed";
+    5879           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5880           0 :       return std::tuple(false, ss.str());
+    5881             : 
+    5882             :     } else {
+    5883         822 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5884         822 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5885         822 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5886             :     }
+    5887             :   }
+    5888             : 
+    5889             :   // transform the z and the heading
+    5890             :   {
+    5891         822 :     geometry_msgs::PoseStamped pose;
+    5892         822 :     pose.header           = reference_in.header;
+    5893         822 :     pose.pose.position.x  = 0;
+    5894         822 :     pose.pose.position.y  = 0;
+    5895         822 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5896         822 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5897             : 
+    5898         822 :     auto ret = transformer_->transform(pose, tf);
+    5899             : 
+    5900         822 :     if (!ret) {
+    5901             : 
+    5902           0 :       ss << "the velocity reference could not be transformed";
+    5903           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5904           0 :       return std::tuple(false, ss.str());
+    5905             : 
+    5906             :     } else {
+    5907         822 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5908         822 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5909             :     }
+    5910             :   }
+    5911             : 
+    5912             :   // the heading rate doees not need to be transformed
+    5913         822 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5914             : 
+    5915         822 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5916         822 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5917             : 
+    5918        1644 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5919             : 
+    5920         822 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5921             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5922             : 
+    5923             :   // safety area check
+    5924         822 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5925           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5926           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5927           0 :     return std::tuple(false, ss.str());
+    5928             :   }
+    5929             : 
+    5930         822 :   if (last_tracker_cmd) {
+    5931             : 
+    5932         822 :     mrs_msgs::ReferenceStamped from_point;
+    5933         822 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5934         822 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5935         822 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5936         822 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5937             : 
+    5938         822 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5939           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5940           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5941           0 :       return std::tuple(false, ss.str());
+    5942             :     }
+    5943             :   }
+    5944             : 
+    5945         822 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5946             : 
+    5947             :   // prepare the message for current tracker
+    5948         822 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5949         822 :   reference_request.reference = transformed_reference.reference;
+    5950             : 
+    5951             :   {
+    5952        1644 :     std::scoped_lock lock(mutex_tracker_list_);
+    5953             : 
+    5954             :     tracker_response =
+    5955         822 :         tracker_list_.at(active_tracker_idx_)
+    5956         822 :             ->setVelocityReference(mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5957             : 
+    5958         822 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5959             : 
+    5960        1644 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5961             : 
+    5962             :     } else {
+    5963             : 
+    5964           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setVelocityReference()' function!";
+    5965           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5966           0 :       return std::tuple(false, ss.str());
+    5967             :     }
+    5968             :   }
+    5969             : }
+    5970             : 
+    5971             : //}
+    5972             : 
+    5973             : /* setTrajectoryReference() //{ */
+    5974             : 
+    5975           6 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5976             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5977             : 
+    5978          12 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5979             : 
+    5980          12 :   std::stringstream ss;
+    5981             : 
+    5982           6 :   if (!callbacks_enabled_) {
+    5983           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5984           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5985           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5986             :   }
+    5987             : 
+    5988             :   /* validate the size and check for NaNs //{ */
+    5989             : 
+    5990             :   // check for the size 0, which is invalid
+    5991           6 :   if (trajectory_in.points.size() == 0) {
+    5992             : 
+    5993           0 :     ss << "can not load trajectory with size 0";
+    5994           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5995           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5996             :   }
+    5997             : 
+    5998         700 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5999             : 
+    6000             :     // check the point for NaN/inf
+    6001         694 :     bool valid = validateReference(trajectory_in.points.at(i), "ControlManager", "trajectory_in.points");
+    6002             : 
+    6003         694 :     if (!valid) {
+    6004             : 
+    6005           0 :       ss << "trajectory contains NaNs/infs.";
+    6006           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6007           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6008             :     }
+    6009             :   }
+    6010             : 
+    6011             :   //}
+    6012             : 
+    6013             :   /* publish the debugging topics of the original trajectory //{ */
+    6014             : 
+    6015             :   {
+    6016             : 
+    6017          12 :     geometry_msgs::PoseArray debug_trajectory_out;
+    6018           6 :     debug_trajectory_out.header = trajectory_in.header;
+    6019             : 
+    6020           6 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    6021             : 
+    6022           6 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    6023           4 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    6024             :     }
+    6025             : 
+    6026         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    6027             : 
+    6028         688 :       geometry_msgs::Pose new_pose;
+    6029             : 
+    6030         688 :       new_pose.position.x = trajectory_in.points.at(i).position.x;
+    6031         688 :       new_pose.position.y = trajectory_in.points.at(i).position.y;
+    6032         688 :       new_pose.position.z = trajectory_in.points.at(i).position.z;
+    6033             : 
+    6034         688 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points.at(i).heading);
+    6035             : 
+    6036         688 :       debug_trajectory_out.poses.push_back(new_pose);
+    6037             :     }
+    6038             : 
+    6039           6 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    6040             : 
+    6041          12 :     visualization_msgs::MarkerArray msg_out;
+    6042             : 
+    6043          12 :     visualization_msgs::Marker marker;
+    6044             : 
+    6045           6 :     marker.header = trajectory_in.header;
+    6046             : 
+    6047           6 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    6048             : 
+    6049           6 :     if (marker.header.frame_id == "") {
+    6050           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    6051             :     }
+    6052             : 
+    6053           6 :     if (marker.header.stamp == ros::Time(0)) {
+    6054           4 :       marker.header.stamp = ros::Time::now();
+    6055             :     }
+    6056             : 
+    6057           6 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    6058           6 :     marker.color.a          = 1;
+    6059           6 :     marker.scale.x          = 0.05;
+    6060           6 :     marker.color.r          = 0;
+    6061           6 :     marker.color.g          = 1;
+    6062           6 :     marker.color.b          = 0;
+    6063           6 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    6064             : 
+    6065         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    6066             : 
+    6067         688 :       geometry_msgs::Point point1;
+    6068             : 
+    6069         688 :       point1.x = trajectory_in.points.at(i).position.x;
+    6070         688 :       point1.y = trajectory_in.points.at(i).position.y;
+    6071         688 :       point1.z = trajectory_in.points.at(i).position.z;
+    6072             : 
+    6073         688 :       marker.points.push_back(point1);
+    6074             : 
+    6075         688 :       geometry_msgs::Point point2;
+    6076             : 
+    6077         688 :       point2.x = trajectory_in.points.at(i + 1).position.x;
+    6078         688 :       point2.y = trajectory_in.points.at(i + 1).position.y;
+    6079         688 :       point2.z = trajectory_in.points.at(i + 1).position.z;
+    6080             : 
+    6081         688 :       marker.points.push_back(point2);
+    6082             :     }
+    6083             : 
+    6084           6 :     msg_out.markers.push_back(marker);
+    6085             : 
+    6086           6 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    6087             :   }
+    6088             : 
+    6089             :   //}
+    6090             : 
+    6091          12 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    6092             : 
+    6093           6 :   int trajectory_size = int(processed_trajectory.points.size());
+    6094             : 
+    6095           6 :   bool trajectory_modified = false;
+    6096             : 
+    6097             :   /* safety area check //{ */
+    6098             : 
+    6099           6 :   if (use_safety_area_) {
+    6100             : 
+    6101           5 :     int last_valid_idx    = 0;
+    6102           5 :     int first_invalid_idx = -1;
+    6103             : 
+    6104           5 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    6105           5 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    6106             : 
+    6107         678 :     for (int i = 0; i < trajectory_size; i++) {
+    6108             : 
+    6109         673 :       if (_snap_trajectory_to_safety_area_) {
+    6110             : 
+    6111             :         // saturate the trajectory to min and max Z
+    6112           0 :         if (processed_trajectory.points.at(i).position.z < min_z) {
+    6113             : 
+    6114           0 :           processed_trajectory.points.at(i).position.z = min_z;
+    6115           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    6116           0 :           trajectory_modified = true;
+    6117             :         }
+    6118             : 
+    6119           0 :         if (processed_trajectory.points.at(i).position.z > max_z) {
+    6120             : 
+    6121           0 :           processed_trajectory.points.at(i).position.z = max_z;
+    6122           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    6123           0 :           trajectory_modified = true;
+    6124             :         }
+    6125             :       }
+    6126             : 
+    6127             :       // check the point against the safety area
+    6128         673 :       mrs_msgs::ReferenceStamped des_reference;
+    6129         673 :       des_reference.header    = processed_trajectory.header;
+    6130         673 :       des_reference.reference = processed_trajectory.points.at(i);
+    6131             : 
+    6132         673 :       if (!isPointInSafetyArea3d(des_reference)) {
+    6133             : 
+    6134           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    6135           0 :         trajectory_modified = true;
+    6136             : 
+    6137             :         // the first invalid point
+    6138           0 :         if (first_invalid_idx == -1) {
+    6139             : 
+    6140           0 :           first_invalid_idx = i;
+    6141             : 
+    6142           0 :           last_valid_idx = i - 1;
+    6143             :         }
+    6144             : 
+    6145             :         // the point is ok
+    6146             :       } else {
+    6147             : 
+    6148             :         // we found a point, which is ok, after finding a point which was not ok
+    6149         673 :         if (first_invalid_idx != -1) {
+    6150             : 
+    6151             :           // special case, we had no valid point so far
+    6152           0 :           if (last_valid_idx == -1) {
+    6153             : 
+    6154           0 :             ss << "the trajectory starts outside of the safety area!";
+    6155           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6156           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6157             : 
+    6158             :             // we have a valid point in the past
+    6159             :           } else {
+    6160             : 
+    6161           0 :             if (!_snap_trajectory_to_safety_area_) {
+    6162           0 :               break;
+    6163             :             }
+    6164             : 
+    6165           0 :             bool interpolation_success = true;
+    6166             : 
+    6167             :             // iterpolate between the last valid point and this new valid point
+    6168           0 :             double angle = atan2((processed_trajectory.points.at(i).position.y - processed_trajectory.points.at(last_valid_idx).position.y),
+    6169           0 :                                  (processed_trajectory.points.at(i).position.x - processed_trajectory.points.at(last_valid_idx).position.x));
+    6170             : 
+    6171           0 :             double dist_two_points = mrs_lib::geometry::dist(
+    6172           0 :                 vec2_t(processed_trajectory.points.at(i).position.x, processed_trajectory.points.at(i).position.y),
+    6173           0 :                 vec2_t(processed_trajectory.points.at(last_valid_idx).position.x, processed_trajectory.points.at(last_valid_idx).position.y));
+    6174           0 :             double step = dist_two_points / (i - last_valid_idx);
+    6175             : 
+    6176           0 :             for (int j = last_valid_idx; j < i; j++) {
+    6177             : 
+    6178           0 :               mrs_msgs::ReferenceStamped temp_point;
+    6179           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    6180           0 :               temp_point.reference.position.x = processed_trajectory.points.at(last_valid_idx).position.x + (j - last_valid_idx) * cos(angle) * step;
+    6181           0 :               temp_point.reference.position.y = processed_trajectory.points.at(last_valid_idx).position.y + (j - last_valid_idx) * sin(angle) * step;
+    6182             : 
+    6183           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    6184             : 
+    6185           0 :                 interpolation_success = false;
+    6186           0 :                 break;
+    6187             : 
+    6188             :               } else {
+    6189             : 
+    6190           0 :                 processed_trajectory.points.at(j).position.x = temp_point.reference.position.x;
+    6191           0 :                 processed_trajectory.points.at(j).position.y = temp_point.reference.position.y;
+    6192             :               }
+    6193             :             }
+    6194             : 
+    6195           0 :             if (!interpolation_success) {
+    6196           0 :               break;
+    6197             :             }
+    6198             :           }
+    6199             : 
+    6200           0 :           first_invalid_idx = -1;
+    6201             :         }
+    6202             :       }
+    6203             :     }
+    6204             : 
+    6205             :     // special case, the trajectory does not end with a valid point
+    6206           5 :     if (first_invalid_idx != -1) {
+    6207             : 
+    6208             :       // super special case, the whole trajectory is invalid
+    6209           0 :       if (first_invalid_idx == 0) {
+    6210             : 
+    6211           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6212           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6213           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6214             : 
+    6215             :         // there is a good portion of the trajectory in the beginning
+    6216             :       } else {
+    6217             : 
+    6218           0 :         trajectory_size = last_valid_idx + 1;
+    6219           0 :         processed_trajectory.points.resize(trajectory_size);
+    6220           0 :         trajectory_modified = true;
+    6221             :       }
+    6222             :     }
+    6223             :   }
+    6224             : 
+    6225           6 :   if (trajectory_size == 0) {
+    6226             : 
+    6227           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6228           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6229           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6230             :   }
+    6231             : 
+    6232             :   //}
+    6233             : 
+    6234             :   /* transform the trajectory to the current control frame //{ */
+    6235             : 
+    6236           6 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6237             : 
+    6238           6 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6239           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6240             :   } else {
+    6241           6 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6242             :   }
+    6243             : 
+    6244           6 :   if (!tf_traj_state) {
+    6245           0 :     ss << "could not create TF transformer for the trajectory";
+    6246           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6247           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6248             :   }
+    6249             : 
+    6250           6 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6251             : 
+    6252         700 :   for (int i = 0; i < trajectory_size; i++) {
+    6253             : 
+    6254         694 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6255         694 :     trajectory_point.header    = processed_trajectory.header;
+    6256         694 :     trajectory_point.reference = processed_trajectory.points.at(i);
+    6257             : 
+    6258         694 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6259             : 
+    6260         694 :     if (!ret) {
+    6261             : 
+    6262           0 :       ss << "trajectory cannnot be transformed";
+    6263           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6264           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6265             : 
+    6266             :     } else {
+    6267             : 
+    6268             :       // transform the points in the trajectory to the current frame
+    6269         694 :       processed_trajectory.points.at(i) = ret.value().reference;
+    6270             :     }
+    6271             :   }
+    6272             : 
+    6273             :   //}
+    6274             : 
+    6275           6 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6276          12 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6277             : 
+    6278             :   // check for empty trajectory
+    6279           6 :   if (processed_trajectory.points.size() == 0) {
+    6280           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6281           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6282           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6283             :   }
+    6284             : 
+    6285             :   // prepare the message for current tracker
+    6286           6 :   request.trajectory = processed_trajectory;
+    6287             : 
+    6288             :   bool                     success;
+    6289          12 :   std::string              message;
+    6290             :   bool                     modified;
+    6291          12 :   std::vector<std::string> tracker_names;
+    6292          12 :   std::vector<bool>        tracker_successes;
+    6293          12 :   std::vector<std::string> tracker_messages;
+    6294             : 
+    6295             :   {
+    6296          12 :     std::scoped_lock lock(mutex_tracker_list_);
+    6297             : 
+    6298             :     // set the trajectory to the currently active tracker
+    6299             :     response =
+    6300           6 :         tracker_list_.at(active_tracker_idx_)
+    6301           6 :             ->setTrajectoryReference(mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6302             : 
+    6303           6 :     tracker_names.push_back(_tracker_names_.at(active_tracker_idx_));
+    6304             : 
+    6305           6 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6306             : 
+    6307           5 :       success  = response->success;
+    6308           5 :       message  = response->message;
+    6309           5 :       modified = response->modified || trajectory_modified;
+    6310           5 :       tracker_successes.push_back(response->success);
+    6311           5 :       tracker_messages.push_back(response->message);
+    6312             : 
+    6313             :     } else {
+    6314             : 
+    6315           1 :       ss << "the active tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setTrajectoryReference()' function!";
+    6316           1 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6317             : 
+    6318           1 :       success  = true;
+    6319           1 :       message  = ss.str();
+    6320           1 :       modified = false;
+    6321           1 :       tracker_successes.push_back(false);
+    6322           1 :       tracker_messages.push_back(ss.str());
+    6323             :     }
+    6324             : 
+    6325             :     // set the trajectory to the non-active trackers
+    6326          42 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6327             : 
+    6328          36 :       if (i != active_tracker_idx_) {
+    6329             : 
+    6330          30 :         tracker_names.push_back(_tracker_names_.at(i));
+    6331             : 
+    6332          90 :         response = tracker_list_.at(i)->setTrajectoryReference(
+    6333          90 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6334             : 
+    6335          30 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6336             : 
+    6337           1 :           tracker_successes.push_back(response->success);
+    6338           1 :           tracker_messages.push_back(response->message);
+    6339             : 
+    6340           1 :           if (response->success) {
+    6341           2 :             std::stringstream ss;
+    6342           1 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_.at(i);
+    6343           1 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6344             :           }
+    6345             : 
+    6346             :         } else {
+    6347             : 
+    6348          29 :           std::stringstream ss;
+    6349          29 :           ss << "the tracker \"" << _tracker_names_.at(i) << "\" does not implement setTrajectoryReference()";
+    6350          29 :           tracker_successes.push_back(false);
+    6351          29 :           tracker_messages.push_back(ss.str());
+    6352             :         }
+    6353             :       }
+    6354             :     }
+    6355             :   }
+    6356             : 
+    6357           6 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6358             : }
+    6359             : 
+    6360             : //}
+    6361             : 
+    6362             : /* isOffboard() //{ */
+    6363             : 
+    6364          18 : bool ControlManager::isOffboard(void) {
+    6365             : 
+    6366          18 :   if (!sh_hw_api_status_.hasMsg()) {
+    6367           0 :     return false;
+    6368             :   }
+    6369             : 
+    6370          18 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6371             : 
+    6372          18 :   return hw_api_status->connected && hw_api_status->offboard;
+    6373             : }
+    6374             : 
+    6375             : //}
+    6376             : 
+    6377             : /* setCallbacks() //{ */
+    6378             : 
+    6379         101 : void ControlManager::setCallbacks(bool in) {
+    6380             : 
+    6381         101 :   callbacks_enabled_ = in;
+    6382             : 
+    6383         101 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6384         101 :   req_enable_callbacks.data = callbacks_enabled_;
+    6385             : 
+    6386             :   {
+    6387         202 :     std::scoped_lock lock(mutex_tracker_list_);
+    6388             : 
+    6389             :     // set callbacks to all trackers
+    6390         707 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6391         606 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6392             :     }
+    6393             :   }
+    6394         101 : }
+    6395             : 
+    6396             : //}
+    6397             : 
+    6398             : /* publishDiagnostics() //{ */
+    6399             : 
+    6400       19110 : void ControlManager::publishDiagnostics(void) {
+    6401             : 
+    6402       19110 :   if (!is_initialized_) {
+    6403           0 :     return;
+    6404             :   }
+    6405             : 
+    6406       57330 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6407       57330 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6408             : 
+    6409       38220 :   std::scoped_lock lock(mutex_diagnostics_);
+    6410             : 
+    6411       38220 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6412             : 
+    6413       19110 :   diagnostics_msg.stamp    = ros::Time::now();
+    6414       19110 :   diagnostics_msg.uav_name = _uav_name_;
+    6415             : 
+    6416       19110 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6417             : 
+    6418       19110 :   diagnostics_msg.output_enabled = output_enabled_;
+    6419             : 
+    6420       19110 :   diagnostics_msg.joystick_active = rc_goto_active_;
+    6421             : 
+    6422             :   {
+    6423       19110 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6424             : 
+    6425       19110 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6426             :   }
+    6427             : 
+    6428       19110 :   diagnostics_msg.bumper_active = bumper_repulsing_;
+    6429             : 
+    6430             :   // | ----------------- fill the tracker status ---------------- |
+    6431             : 
+    6432             :   {
+    6433       38220 :     std::scoped_lock lock(mutex_tracker_list_);
+    6434             : 
+    6435       19110 :     mrs_msgs::TrackerStatus tracker_status;
+    6436             : 
+    6437       19110 :     diagnostics_msg.active_tracker = _tracker_names_.at(active_tracker_idx_);
+    6438       19110 :     diagnostics_msg.tracker_status = tracker_list_.at(active_tracker_idx_)->getStatus();
+    6439             :   }
+    6440             : 
+    6441             :   // | --------------- fill the controller status --------------- |
+    6442             : 
+    6443             :   {
+    6444       38220 :     std::scoped_lock lock(mutex_controller_list_);
+    6445             : 
+    6446       19110 :     mrs_msgs::ControllerStatus controller_status;
+    6447             : 
+    6448       19110 :     diagnostics_msg.active_controller = _controller_names_.at(active_controller_idx_);
+    6449       19110 :     diagnostics_msg.controller_status = controller_list_.at(active_controller_idx_)->getStatus();
+    6450             :   }
+    6451             : 
+    6452             :   // | ------------ fill in the available controllers ----------- |
+    6453             : 
+    6454      114660 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6455       95550 :     if ((_controller_names_.at(i) != _failsafe_controller_name_) && (_controller_names_.at(i) != _eland_controller_name_)) {
+    6456       57330 :       diagnostics_msg.available_controllers.push_back(_controller_names_.at(i));
+    6457       57330 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_.at(i)).human_switchable);
+    6458             :     }
+    6459             :   }
+    6460             : 
+    6461             :   // | ------------- fill in the available trackers ------------- |
+    6462             : 
+    6463      133990 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6464      114880 :     if (_tracker_names_.at(i) != _null_tracker_name_) {
+    6465       95770 :       diagnostics_msg.available_trackers.push_back(_tracker_names_.at(i));
+    6466       95770 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_.at(i)).human_switchable);
+    6467             :     }
+    6468             :   }
+    6469             : 
+    6470             :   // | ------------------------- publish ------------------------ |
+    6471             : 
+    6472       19110 :   ph_diagnostics_.publish(diagnostics_msg);
+    6473             : }
+    6474             : 
+    6475             : //}
+    6476             : 
+    6477             : /* setConstraintsToTrackers() //{ */
+    6478             : 
+    6479         380 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6480             : 
+    6481        1140 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6482        1140 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6483             : 
+    6484         380 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6485             : 
+    6486             :   {
+    6487         760 :     std::scoped_lock lock(mutex_tracker_list_);
+    6488             : 
+    6489             :     // for each tracker
+    6490        2663 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6491             : 
+    6492             :       // if it is the active one, update and retrieve the command
+    6493        6849 :       response = tracker_list_.at(i)->setConstraints(
+    6494        6849 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6495             :     }
+    6496             :   }
+    6497         380 : }
+    6498             : 
+    6499             : //}
+    6500             : 
+    6501             : /* setConstraintsToControllers() //{ */
+    6502             : 
+    6503         428 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6504             : 
+    6505        1284 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6506        1284 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6507             : 
+    6508         428 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6509             : 
+    6510             :   {
+    6511         856 :     std::scoped_lock lock(mutex_controller_list_);
+    6512             : 
+    6513             :     // for each controller
+    6514        2568 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6515             : 
+    6516             :       // if it is the active one, update and retrieve the command
+    6517        6420 :       response = controller_list_.at(i)->setConstraints(
+    6518        6420 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6519             :     }
+    6520             :   }
+    6521         428 : }
+    6522             : 
+    6523             : //}
+    6524             : 
+    6525             : /* setConstraints() //{ */
+    6526             : 
+    6527         108 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6528             : 
+    6529         324 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6530         324 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6531             : 
+    6532         108 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6533             : 
+    6534         108 :   setConstraintsToTrackers(constraints);
+    6535             : 
+    6536         108 :   setConstraintsToControllers(constraints);
+    6537         108 : }
+    6538             : 
+    6539             : //}
+    6540             : 
+    6541             : /* enforceControllerConstraints() //{ */
+    6542             : 
+    6543      138913 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6544             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6545             : 
+    6546             :   // copy member variables
+    6547      277826 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6548             : 
+    6549      138913 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6550      119387 :     return {};
+    6551             :   }
+    6552             : 
+    6553       19526 :   bool enforcing = false;
+    6554             : 
+    6555       19526 :   auto constraints_out = constraints;
+    6556             : 
+    6557       39052 :   std::scoped_lock lock(mutex_tracker_list_);
+    6558             : 
+    6559             :   // enforce horizontal speed
+    6560       19526 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6561       14209 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6562             : 
+    6563       14209 :     enforcing = true;
+    6564             :   }
+    6565             : 
+    6566             :   // enforce horizontal acceleration
+    6567       19526 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6568       17829 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6569             : 
+    6570       17829 :     enforcing = true;
+    6571             :   }
+    6572             : 
+    6573             :   // enforce vertical ascending speed
+    6574       19526 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6575       14209 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6576             : 
+    6577       14209 :     enforcing = true;
+    6578             :   }
+    6579             : 
+    6580             :   // enforce vertical ascending acceleration
+    6581       19526 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6582           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6583             : 
+    6584           0 :     enforcing = true;
+    6585             :   }
+    6586             : 
+    6587             :   // enforce vertical descending speed
+    6588       19526 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6589       14209 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6590             : 
+    6591       14209 :     enforcing = true;
+    6592             :   }
+    6593             : 
+    6594             :   // enforce vertical descending acceleration
+    6595       19526 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6596           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6597             : 
+    6598           0 :     enforcing = true;
+    6599             :   }
+    6600             : 
+    6601       19526 :   if (enforcing) {
+    6602       17829 :     return {constraints_out};
+    6603             :   } else {
+    6604        1697 :     return {};
+    6605             :   }
+    6606             : }
+    6607             : 
+    6608             : //}
+    6609             : 
+    6610             : /* isFlyingNormally() //{ */
+    6611             : 
+    6612       19392 : bool ControlManager::isFlyingNormally(void) {
+    6613             : 
+    6614       16699 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6615       10526 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6616       10526 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6617       38303 :           _controller_names_.size() == 1) &&
+    6618       27706 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6619             : }
+    6620             : 
+    6621             : //}
+    6622             : 
+    6623             : /* //{ getMass() */
+    6624             : 
+    6625         555 : double ControlManager::getMass(void) {
+    6626             : 
+    6627        1110 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6628             : 
+    6629         555 :   if (last_control_output.diagnostics.mass_estimator) {
+    6630          13 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6631             :   } else {
+    6632         542 :     return _uav_mass_;
+    6633             :   }
+    6634             : }
+    6635             : 
+    6636             : //}
+    6637             : 
+    6638             : /* loadConfigFile() //{ */
+    6639             : 
+    6640           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6641             : 
+    6642           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6643             : 
+    6644           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6645             : 
+    6646             :   // load the user-requested file
+    6647             :   {
+    6648           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6649           0 :     int         result  = std::system(command.c_str());
+    6650             : 
+    6651           0 :     if (result != 0) {
+    6652           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6653           0 :       return false;
+    6654             :     }
+    6655             :   }
+    6656             : 
+    6657             :   // load the platform config
+    6658           0 :   if (_platform_config_ != "") {
+    6659           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6660           0 :     int         result  = std::system(command.c_str());
+    6661             : 
+    6662           0 :     if (result != 0) {
+    6663           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6664           0 :       return false;
+    6665             :     }
+    6666             :   }
+    6667             : 
+    6668             :   // load the custom config
+    6669           0 :   if (_custom_config_ != "") {
+    6670           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6671           0 :     int         result  = std::system(command.c_str());
+    6672             : 
+    6673           0 :     if (result != 0) {
+    6674           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6675           0 :       return false;
+    6676             :     }
+    6677             :   }
+    6678             : 
+    6679           0 :   return true;
+    6680             : }
+    6681             : 
+    6682             : //}
+    6683             : 
+    6684             : // | ----------------------- safety area ---------------------- |
+    6685             : 
+    6686             : /* //{ isPointInSafetyArea3d() */
+    6687             : 
+    6688        1853 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6689             : 
+    6690        1853 :   if (!use_safety_area_) {
+    6691         749 :     return true;
+    6692             :   }
+    6693             : 
+    6694        2208 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6695             : 
+    6696        1104 :   if (!tfed_horizontal) {
+    6697           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6698           0 :     return false;
+    6699             :   }
+    6700             : 
+    6701        1104 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6702           3 :     return false;
+    6703             :   }
+    6704             : 
+    6705        1101 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6706           3 :     return false;
+    6707             :   }
+    6708             : 
+    6709        1098 :   return true;
+    6710             : }
+    6711             : 
+    6712             : //}
+    6713             : 
+    6714             : /* //{ isPointInSafetyArea2d() */
+    6715             : 
+    6716        9472 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6717             : 
+    6718        9472 :   if (!use_safety_area_) {
+    6719         590 :     return true;
+    6720             :   }
+    6721             : 
+    6722       17764 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6723             : 
+    6724        8882 :   if (!tfed_horizontal) {
+    6725           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6726           0 :     return false;
+    6727             :   }
+    6728             : 
+    6729        8882 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6730          74 :     return false;
+    6731             :   }
+    6732             : 
+    6733        8808 :   return true;
+    6734             : }
+    6735             : 
+    6736             : //}
+    6737             : 
+    6738             : /* //{ isPathToPointInSafetyArea3d() */
+    6739             : 
+    6740         892 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6741             : 
+    6742         892 :   if (!use_safety_area_) {
+    6743         749 :     return true;
+    6744             :   }
+    6745             : 
+    6746         143 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6747           2 :     return false;
+    6748             :   }
+    6749             : 
+    6750         282 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6751             : 
+    6752             :   {
+    6753         141 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6754             : 
+    6755         141 :     if (!ret) {
+    6756             : 
+    6757           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6758             : 
+    6759           0 :       return false;
+    6760             :     }
+    6761             : 
+    6762         141 :     start_transformed = ret.value();
+    6763             :   }
+    6764             : 
+    6765             :   {
+    6766         141 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6767             : 
+    6768         141 :     if (!ret) {
+    6769             : 
+    6770           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6771             : 
+    6772           0 :       return false;
+    6773             :     }
+    6774             : 
+    6775         141 :     end_transformed = ret.value();
+    6776             :   }
+    6777             : 
+    6778         141 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6779         141 :                                    end_transformed.reference.position.y);
+    6780             : }
+    6781             : 
+    6782             : //}
+    6783             : 
+    6784             : /* //{ isPathToPointInSafetyArea2d() */
+    6785             : 
+    6786           0 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6787             : 
+    6788           0 :   if (!use_safety_area_) {
+    6789           0 :     return true;
+    6790             :   }
+    6791             : 
+    6792           0 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6793             : 
+    6794           0 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6795           0 :     return false;
+    6796             :   }
+    6797             : 
+    6798             :   {
+    6799           0 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6800             : 
+    6801           0 :     if (!ret) {
+    6802             : 
+    6803           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6804             : 
+    6805           0 :       return false;
+    6806             :     }
+    6807             : 
+    6808           0 :     start_transformed = ret.value();
+    6809             :   }
+    6810             : 
+    6811             :   {
+    6812           0 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6813             : 
+    6814           0 :     if (!ret) {
+    6815             : 
+    6816           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6817             : 
+    6818           0 :       return false;
+    6819             :     }
+    6820             : 
+    6821           0 :     end_transformed = ret.value();
+    6822             :   }
+    6823             : 
+    6824           0 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6825           0 :                                    end_transformed.reference.position.y);
+    6826             : }
+    6827             : 
+    6828             : //}
+    6829             : 
+    6830             : /* //{ getMaxZ() */
+    6831             : 
+    6832       13552 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6833             : 
+    6834             :   // | ------- first, calculate max_z from the safety area ------ |
+    6835             : 
+    6836       13552 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6837             : 
+    6838             :   {
+    6839             : 
+    6840       27104 :     geometry_msgs::PointStamped point;
+    6841             : 
+    6842       13552 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6843       13552 :     point.point.x         = 0;
+    6844       13552 :     point.point.y         = 0;
+    6845       13552 :     point.point.z         = _safety_area_max_z_;
+    6846             : 
+    6847       13552 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6848             : 
+    6849       13552 :     if (!ret) {
+    6850           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6851             :     }
+    6852             : 
+    6853       13552 :     safety_area_max_z = ret->point.z;
+    6854             :   }
+    6855             : 
+    6856             :   // | ------------ overwrite from estimation manager ----------- |
+    6857             : 
+    6858       13552 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6859             : 
+    6860             :   {
+    6861             :     // if possible, override it with max z from the estimation manager
+    6862       13552 :     if (sh_max_z_.hasMsg()) {
+    6863             : 
+    6864       27090 :       auto msg = sh_max_z_.getMsg();
+    6865             : 
+    6866             :       // transform it into the safety area frame
+    6867       27090 :       geometry_msgs::PointStamped point;
+    6868       13545 :       point.header  = msg->header;
+    6869       13545 :       point.point.x = 0;
+    6870       13545 :       point.point.y = 0;
+    6871       13545 :       point.point.z = msg->value;
+    6872             : 
+    6873       13545 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6874             : 
+    6875       13545 :       if (!ret) {
+    6876           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6877             :       }
+    6878             : 
+    6879       13545 :       estimation_manager_max_z = ret->point.z;
+    6880             :     }
+    6881             :   }
+    6882             : 
+    6883       13552 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6884       12778 :     return estimation_manager_max_z;
+    6885             :   } else {
+    6886         774 :     return safety_area_max_z;
+    6887             :   }
+    6888             : }
+    6889             : 
+    6890             : //}
+    6891             : 
+    6892             : /* //{ getMinZ() */
+    6893             : 
+    6894       13555 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6895             : 
+    6896       13555 :   if (!use_safety_area_) {
+    6897           0 :     return std::numeric_limits<double>::lowest();
+    6898             :   }
+    6899             : 
+    6900       27110 :   geometry_msgs::PointStamped point;
+    6901             : 
+    6902       13555 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6903       13555 :   point.point.x         = 0;
+    6904       13555 :   point.point.y         = 0;
+    6905       13555 :   point.point.z         = _safety_area_min_z_;
+    6906             : 
+    6907       27110 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6908             : 
+    6909       13555 :   if (!ret) {
+    6910           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6911           0 :     return std::numeric_limits<double>::lowest();
+    6912             :   }
+    6913             : 
+    6914       13555 :   return ret->point.z;
+    6915             : }
+    6916             : 
+    6917             : //}
+    6918             : 
+    6919             : // | --------------------- obstacle bumper -------------------- |
+    6920             : 
+    6921             : /* bumperPushFromObstacle() //{ */
+    6922             : 
+    6923         277 : void ControlManager::bumperPushFromObstacle(void) {
+    6924             : 
+    6925             :   // | --------------- fabricate the min distances -------------- |
+    6926             : 
+    6927         277 :   double min_distance_horizontal = _bumper_horizontal_distance_;
+    6928         277 :   double min_distance_vertical   = _bumper_vertical_distance_;
+    6929             : 
+    6930         277 :   if (_bumper_horizontal_derive_from_dynamics_ || _bumper_vertical_derive_from_dynamics_) {
+    6931             : 
+    6932         277 :     auto constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    6933             : 
+    6934         277 :     if (_bumper_horizontal_derive_from_dynamics_) {
+    6935             : 
+    6936         277 :       const double horizontal_t_stop    = constraints.constraints.horizontal_speed / constraints.constraints.horizontal_acceleration;
+    6937         277 :       const double horizontal_stop_dist = (horizontal_t_stop * constraints.constraints.horizontal_speed) / 2.0;
+    6938             : 
+    6939         277 :       min_distance_horizontal += 1.5 * horizontal_stop_dist;
+    6940             :     }
+    6941             : 
+    6942         277 :     if (_bumper_vertical_derive_from_dynamics_) {
+    6943             : 
+    6944             : 
+    6945             :       // larger from the two accelerations
+    6946         554 :       const double vert_acc = constraints.constraints.vertical_ascending_acceleration > constraints.constraints.vertical_descending_acceleration
+    6947         277 :                                   ? constraints.constraints.vertical_ascending_acceleration
+    6948             :                                   : constraints.constraints.vertical_descending_acceleration;
+    6949             : 
+    6950             :       // larger from the two speeds
+    6951         554 :       const double vert_speed = constraints.constraints.vertical_ascending_speed > constraints.constraints.vertical_descending_speed
+    6952         277 :                                     ? constraints.constraints.vertical_ascending_speed
+    6953             :                                     : constraints.constraints.vertical_descending_speed;
+    6954             : 
+    6955         277 :       const double vertical_t_stop    = vert_speed / vert_acc;
+    6956         277 :       const double vertical_stop_dist = (vertical_t_stop * vert_speed) / 2.0;
+    6957             : 
+    6958         277 :       min_distance_vertical += 1.5 * vertical_stop_dist;
+    6959             :     }
+    6960             :   }
+    6961             : 
+    6962             :   // | ----------------------------  ---------------------------- |
+    6963             : 
+    6964             :   // copy member variables
+    6965         277 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6966         277 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6967             : 
+    6968         277 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6969             : 
+    6970         277 :   double direction          = 0;
+    6971         277 :   double repulsion_distance = std::numeric_limits<double>::max();
+    6972             : 
+    6973         277 :   bool horizontal_collision_detected = false;
+    6974         277 :   bool vertical_collision_detected   = false;
+    6975             : 
+    6976         277 :   double min_horizontal_sector_distance = std::numeric_limits<double>::max();
+    6977         277 :   size_t min_sector_id                  = 0;
+    6978             : 
+    6979        2493 :   for (unsigned long i = 0; i < bumper_data->n_horizontal_sectors; i++) {
+    6980             : 
+    6981        2216 :     if (bumper_data->sectors.at(i) < 0) {
+    6982           0 :       continue;
+    6983             :     }
+    6984             : 
+    6985        2216 :     if (bumper_data->sectors.at(i) < min_horizontal_sector_distance) {
+    6986         277 :       min_horizontal_sector_distance = bumper_data->sectors.at(i);
+    6987         277 :       min_sector_id                  = i;
+    6988             :     }
+    6989             :   }
+    6990             : 
+    6991             :   // if the sector is under the threshold distance
+    6992         277 :   if (min_horizontal_sector_distance < min_distance_horizontal) {
+    6993             : 
+    6994             :     // get the desired direction of motion
+    6995         104 :     double oposite_direction  = double(min_sector_id) * sector_size + M_PI;
+    6996         104 :     int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6997             : 
+    6998             :     // get the id of the oposite sector
+    6999         104 :     direction = oposite_direction;
+    7000             : 
+    7001         104 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %lu vs. %d), obstacle distance: %.2f, repulsing", min_sector_id,
+    7002             :                       oposite_sector_idx, bumper_data->sectors.at(min_sector_id));
+    7003             : 
+    7004         104 :     repulsion_distance = min_distance_horizontal + _bumper_horizontal_overshoot_ - bumper_data->sectors.at(min_sector_id);
+    7005             : 
+    7006         104 :     horizontal_collision_detected = true;
+    7007             :   }
+    7008             : 
+    7009         277 :   double vertical_repulsion_distance = 0;
+    7010             : 
+    7011             :   // check for vertical collision down
+    7012         277 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors) > 0 && bumper_data->sectors.at(bumper_data->n_horizontal_sectors) <= min_distance_vertical) {
+    7013             : 
+    7014           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    7015           0 :     vertical_collision_detected = true;
+    7016           0 :     vertical_repulsion_distance = min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors);
+    7017             :   }
+    7018             : 
+    7019             :   // check for vertical collision up
+    7020         554 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) > 0 &&
+    7021         277 :       bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) <= min_distance_vertical) {
+    7022             : 
+    7023           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    7024           0 :     vertical_collision_detected = true;
+    7025           0 :     vertical_repulsion_distance = -(min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1));
+    7026             :   }
+    7027             : 
+    7028             :   // if potential collision was detected and we should start the repulsing_
+    7029         277 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    7030             : 
+    7031         104 :     if (!bumper_repulsing_) {
+    7032             : 
+    7033           1 :       if (_bumper_switch_tracker_) {
+    7034             : 
+    7035           1 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7036           2 :         std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    7037             : 
+    7038             :         // remember the previously active tracker
+    7039           1 :         bumper_previous_tracker_ = active_tracker_name;
+    7040             : 
+    7041           1 :         if (active_tracker_name != _bumper_tracker_name_) {
+    7042             : 
+    7043           0 :           switchTracker(_bumper_tracker_name_);
+    7044             :         }
+    7045             :       }
+    7046             : 
+    7047           1 :       if (_bumper_switch_controller_) {
+    7048             : 
+    7049           1 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7050           2 :         std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7051             : 
+    7052             :         // remember the previously active controller
+    7053           1 :         bumper_previous_controller_ = active_controller_name;
+    7054             : 
+    7055           1 :         if (active_controller_name != _bumper_controller_name_) {
+    7056             : 
+    7057           1 :           switchController(_bumper_controller_name_);
+    7058             :         }
+    7059             :       }
+    7060             :     }
+    7061             : 
+    7062         104 :     bumper_repulsing_ = true;
+    7063             : 
+    7064         104 :     callbacks_enabled_ = false;
+    7065             : 
+    7066           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    7067             : 
+    7068         104 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    7069             : 
+    7070             :     // create the reference in the fcu_untilted frame
+    7071         104 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    7072             : 
+    7073         104 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    7074             : 
+    7075         104 :     if (horizontal_collision_detected) {
+    7076         104 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    7077         104 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    7078             :     } else {
+    7079           0 :       reference_fcu_untilted.reference.position.x = 0;
+    7080           0 :       reference_fcu_untilted.reference.position.y = 0;
+    7081             :     }
+    7082             : 
+    7083         104 :     reference_fcu_untilted.reference.heading = 0;
+    7084             : 
+    7085         104 :     if (vertical_collision_detected) {
+    7086           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    7087             :     } else {
+    7088         104 :       reference_fcu_untilted.reference.position.z = 0;
+    7089             :     }
+    7090             : 
+    7091             :     {
+    7092         104 :       std::scoped_lock lock(mutex_tracker_list_);
+    7093             : 
+    7094             :       // transform the reference into the currently used frame
+    7095             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    7096             :       // to the tracker before we actually call the goto service
+    7097             : 
+    7098         104 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    7099             : 
+    7100         104 :       if (!ret) {
+    7101           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    7102           0 :         return;
+    7103             :       }
+    7104             : 
+    7105         104 :       reference_fcu_untilted = ret.value();
+    7106             : 
+    7107             :       // copy the reference into the service type message
+    7108         104 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    7109         104 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    7110             : 
+    7111             :       // disable callbacks of all trackers
+    7112         104 :       req_enable_callbacks.data = false;
+    7113         728 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7114         624 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7115             :       }
+    7116             : 
+    7117             :       // enable the callbacks for the active tracker
+    7118         104 :       req_enable_callbacks.data = true;
+    7119         104 :       tracker_list_.at(active_tracker_idx_)
+    7120         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7121             : 
+    7122             :       // call the goto
+    7123         104 :       tracker_response = tracker_list_.at(active_tracker_idx_)
+    7124         104 :                              ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    7125             : 
+    7126             :       // disable the callbacks back again
+    7127         104 :       req_enable_callbacks.data = false;
+    7128         104 :       tracker_list_.at(active_tracker_idx_)
+    7129         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7130             :     }
+    7131             :   }
+    7132             : 
+    7133             :   // if repulsing_ and the distance is safe once again
+    7134         277 :   if (bumper_repulsing_ && !horizontal_collision_detected && !vertical_collision_detected) {
+    7135             : 
+    7136           1 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: no more collision, stopping repulsion");
+    7137             : 
+    7138           1 :     if (_bumper_switch_tracker_) {
+    7139             : 
+    7140           1 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7141           2 :       std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    7142             : 
+    7143           1 :       if (active_tracker_name != bumper_previous_tracker_) {
+    7144             : 
+    7145           0 :         switchTracker(bumper_previous_tracker_);
+    7146             :       }
+    7147             :     }
+    7148             : 
+    7149           1 :     if (_bumper_switch_controller_) {
+    7150             : 
+    7151           1 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7152           2 :       std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7153             : 
+    7154           1 :       if (active_controller_name != bumper_previous_controller_) {
+    7155             : 
+    7156           1 :         switchController(bumper_previous_controller_);
+    7157             :       }
+    7158             :     }
+    7159             : 
+    7160           1 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    7161             : 
+    7162             :     {
+    7163           2 :       std::scoped_lock lock(mutex_tracker_list_);
+    7164             : 
+    7165             :       // enable callbacks of all trackers
+    7166           1 :       req_enable_callbacks.data = true;
+    7167           7 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7168           6 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7169             :       }
+    7170             :     }
+    7171             : 
+    7172           1 :     callbacks_enabled_ = true;
+    7173             : 
+    7174           1 :     bumper_repulsing_ = false;
+    7175             :   }
+    7176             : }
+    7177             : 
+    7178             : //}
+    7179             : 
+    7180             : /* bumperGetSectorId() //{ */
+    7181             : 
+    7182         104 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7183             : 
+    7184             :   // copy member variables
+    7185         104 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7186             : 
+    7187             :   // heading of the point in drone frame
+    7188         104 :   double point_heading_horizontal = atan2(y, x);
+    7189             : 
+    7190         104 :   point_heading_horizontal += TAU;
+    7191             : 
+    7192             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7193         104 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7194         104 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7195             :   }
+    7196             : 
+    7197             :   // heading of the right edge of the first sector
+    7198         104 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7199             : 
+    7200             :   // calculate the idx
+    7201         104 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7202             : 
+    7203         104 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7204           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7205             :   }
+    7206             : 
+    7207         208 :   return idx;
+    7208             : }
+    7209             : 
+    7210             : //}
+    7211             : 
+    7212             : // | ------------------------- safety ------------------------- |
+    7213             : 
+    7214             : /* //{ changeLandingState() */
+    7215             : 
+    7216          12 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7217             : 
+    7218             :   // copy member variables
+    7219          24 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7220             : 
+    7221             :   {
+    7222          12 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7223             : 
+    7224          12 :     previous_state_landing_ = current_state_landing_;
+    7225          12 :     current_state_landing_  = new_state;
+    7226             :   }
+    7227             : 
+    7228          12 :   switch (current_state_landing_) {
+    7229             : 
+    7230           4 :     case IDLE_STATE:
+    7231           4 :       break;
+    7232           8 :     case LANDING_STATE: {
+    7233             : 
+    7234           8 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7235           8 :       timer_eland_.start();
+    7236           8 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7237           8 :       eland_triggered_ = true;
+    7238           8 :       bumper_enabled_  = false;
+    7239             : 
+    7240           8 :       landing_uav_mass_ = getMass();
+    7241             :     }
+    7242             : 
+    7243           8 :     break;
+    7244             :   }
+    7245             : 
+    7246          12 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7247          12 : }
+    7248             : 
+    7249             : //}
+    7250             : 
+    7251             : /* hover() //{ */
+    7252             : 
+    7253           1 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7254             : 
+    7255           1 :   if (!is_initialized_) {
+    7256           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7257             :   }
+    7258             : 
+    7259           1 :   if (eland_triggered_) {
+    7260           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7261             :   }
+    7262             : 
+    7263           1 :   if (failsafe_triggered_) {
+    7264           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7265             :   }
+    7266             : 
+    7267             :   {
+    7268           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7269             : 
+    7270           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7271           1 :     std_srvs::TriggerRequest            request;
+    7272             : 
+    7273           1 :     response = tracker_list_.at(active_tracker_idx_)->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7274             : 
+    7275           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7276             : 
+    7277           2 :       return std::tuple(response->success, response->message);
+    7278             : 
+    7279             :     } else {
+    7280             : 
+    7281           0 :       std::stringstream ss;
+    7282           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'hover()' function!";
+    7283             : 
+    7284           0 :       return std::tuple(false, ss.str());
+    7285             :     }
+    7286             :   }
+    7287             : }
+    7288             : 
+    7289             : //}
+    7290             : 
+    7291             : /* //{ ehover() */
+    7292             : 
+    7293           4 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7294             : 
+    7295           4 :   if (!is_initialized_) {
+    7296           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7297             :   }
+    7298             : 
+    7299           4 :   if (eland_triggered_) {
+    7300           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7301             :   }
+    7302             : 
+    7303           4 :   if (failsafe_triggered_) {
+    7304           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7305             :   }
+    7306             : 
+    7307             :   // copy the member variables
+    7308           8 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7309           4 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7310             : 
+    7311           4 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7312             : 
+    7313           0 :     std::stringstream ss;
+    7314           0 :     ss << "can not trigger ehover while not flying";
+    7315           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7316             : 
+    7317           0 :     return std::tuple(false, ss.str());
+    7318             :   }
+    7319             : 
+    7320           4 :   ungripSrv();
+    7321             : 
+    7322             :   {
+    7323             : 
+    7324           4 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7325             : 
+    7326             :     // check if the tracker was successfully switched
+    7327             :     // this is vital, that is the core of the hover
+    7328           4 :     if (!success) {
+    7329             : 
+    7330           0 :       std::stringstream ss;
+    7331           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7332           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7333             : 
+    7334           0 :       return std::tuple(success, ss.str());
+    7335             :     }
+    7336             :   }
+    7337             : 
+    7338             :   {
+    7339           8 :     auto [success, message] = switchController(_eland_controller_name_);
+    7340             : 
+    7341             :     // check if the controller was successfully switched
+    7342             :     // this is not vital, we can continue without that
+    7343           4 :     if (!success) {
+    7344             : 
+    7345           0 :       std::stringstream ss;
+    7346           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7347           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7348             :     }
+    7349             :   }
+    7350             : 
+    7351           4 :   std::stringstream ss;
+    7352           4 :   ss << "ehover activated";
+    7353           4 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7354             : 
+    7355           4 :   callbacks_enabled_ = false;
+    7356             : 
+    7357           4 :   return std::tuple(true, ss.str());
+    7358             : }
+    7359             : 
+    7360             : //}
+    7361             : 
+    7362             : /* eland() //{ */
+    7363             : 
+    7364           8 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7365             : 
+    7366           8 :   if (!is_initialized_) {
+    7367           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7368             :   }
+    7369             : 
+    7370           8 :   if (eland_triggered_) {
+    7371           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7372             :   }
+    7373             : 
+    7374           8 :   if (failsafe_triggered_) {
+    7375           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7376             :   }
+    7377             : 
+    7378             :   // copy member variables
+    7379          16 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7380           8 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7381             : 
+    7382           8 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7383             : 
+    7384           0 :     std::stringstream ss;
+    7385           0 :     ss << "can not trigger eland while not flying";
+    7386           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7387             : 
+    7388           0 :     return std::tuple(false, ss.str());
+    7389             :   }
+    7390             : 
+    7391           8 :   if (_rc_emergency_handoff_) {
+    7392             : 
+    7393           0 :     toggleOutput(false);
+    7394             : 
+    7395           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7396             :   }
+    7397             : 
+    7398             :   {
+    7399           8 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7400             : 
+    7401             :     // check if the tracker was successfully switched
+    7402             :     // this is vital
+    7403           8 :     if (!success) {
+    7404             : 
+    7405           0 :       std::stringstream ss;
+    7406           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7407           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7408             : 
+    7409           0 :       return std::tuple(success, ss.str());
+    7410             :     }
+    7411             :   }
+    7412             : 
+    7413             :   {
+    7414          16 :     auto [success, message] = switchController(_eland_controller_name_);
+    7415             : 
+    7416             :     // check if the controller was successfully switched
+    7417             :     // this is not vital, we can continue without it
+    7418           8 :     if (!success) {
+    7419             : 
+    7420           0 :       std::stringstream ss;
+    7421           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7422           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7423             :     }
+    7424             :   }
+    7425             : 
+    7426             :   // | ----------------- call the eland service ----------------- |
+    7427             : 
+    7428           8 :   std::stringstream ss;
+    7429             :   bool              success;
+    7430             : 
+    7431           8 :   if (elandSrv()) {
+    7432             : 
+    7433           8 :     changeLandingState(LANDING_STATE);
+    7434             : 
+    7435           8 :     odometryCallbacksSrv(false);
+    7436             : 
+    7437           8 :     ss << "eland activated";
+    7438           8 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7439             : 
+    7440           8 :     success = true;
+    7441             : 
+    7442           8 :     callbacks_enabled_ = false;
+    7443             : 
+    7444             :   } else {
+    7445             : 
+    7446           0 :     ss << "error during activation of eland";
+    7447           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7448             : 
+    7449           0 :     success = false;
+    7450             :   }
+    7451             : 
+    7452          16 :   return std::tuple(success, ss.str());
+    7453             : }
+    7454             : 
+    7455             : //}
+    7456             : 
+    7457             : /* failsafe() //{ */
+    7458             : 
+    7459           7 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7460             : 
+    7461             :   // copy member variables
+    7462          14 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7463           7 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7464           7 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7465             : 
+    7466           7 :   if (!is_initialized_) {
+    7467           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7468             :   }
+    7469             : 
+    7470           7 :   if (failsafe_triggered_) {
+    7471           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7472             :   }
+    7473             : 
+    7474           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7475             : 
+    7476           0 :     std::stringstream ss;
+    7477           0 :     ss << "can not trigger failsafe while not flying";
+    7478           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7479           0 :     return std::tuple(false, ss.str());
+    7480             :   }
+    7481             : 
+    7482           7 :   if (_rc_emergency_handoff_) {
+    7483             : 
+    7484           0 :     toggleOutput(false);
+    7485             : 
+    7486           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7487             :   }
+    7488             : 
+    7489           7 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7490           0 :     return eland();
+    7491             :   }
+    7492             : 
+    7493           7 :   if (_parachute_enabled_) {
+    7494             : 
+    7495           0 :     auto [success, message] = deployParachute();
+    7496             : 
+    7497           0 :     if (success) {
+    7498             : 
+    7499           0 :       std::stringstream ss;
+    7500           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7501           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7502             : 
+    7503           0 :       return std::tuple(true, ss.str());
+    7504             : 
+    7505             :     } else {
+    7506             : 
+    7507           0 :       std::stringstream ss;
+    7508           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7509           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7510             :     }
+    7511             :   }
+    7512             : 
+    7513           7 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7514             : 
+    7515             :     try {
+    7516             : 
+    7517          14 :       std::scoped_lock lock(mutex_controller_list_);
+    7518             : 
+    7519           7 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7520           7 :       controller_list_.at(_failsafe_controller_idx_)->activate(last_control_output);
+    7521             : 
+    7522             :       {
+    7523          14 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7524             : 
+    7525             :         // update the time (used in failsafe)
+    7526           7 :         controller_tracker_switch_time_ = ros::Time::now();
+    7527             :       }
+    7528             : 
+    7529           7 :       failsafe_triggered_ = true;
+    7530           7 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7531           7 :       timer_eland_.stop();
+    7532           7 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7533             : 
+    7534           7 :       landing_uav_mass_ = getMass();
+    7535             : 
+    7536           7 :       eland_triggered_ = false;
+    7537           7 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7538           7 :       timer_failsafe_.start();
+    7539           7 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7540             : 
+    7541           7 :       bumper_enabled_ = false;
+    7542             : 
+    7543           7 :       odometryCallbacksSrv(false);
+    7544             : 
+    7545           7 :       callbacks_enabled_ = false;
+    7546             : 
+    7547           7 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7548             : 
+    7549             :       // super important, switch the active controller idx
+    7550             :       try {
+    7551           7 :         controller_list_.at(active_controller_idx_)->deactivate();
+    7552           7 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7553             :       }
+    7554           0 :       catch (std::runtime_error& exrun) {
+    7555           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    7556             :       }
+    7557             :     }
+    7558           0 :     catch (std::runtime_error& exrun) {
+    7559           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7560           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7561             :     }
+    7562             :   }
+    7563             : 
+    7564          14 :   return std::tuple(true, "failsafe activated");
+    7565             : }
+    7566             : 
+    7567             : //}
+    7568             : 
+    7569             : /* escalatingFailsafe() //{ */
+    7570             : 
+    7571         153 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7572             : 
+    7573         306 :   std::stringstream ss;
+    7574             : 
+    7575         153 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7576             : 
+    7577         145 :     ss << "too soon for escalating failsafe";
+    7578         145 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7579             : 
+    7580         145 :     return std::tuple(false, ss.str());
+    7581             :   }
+    7582             : 
+    7583           8 :   if (!output_enabled_) {
+    7584             : 
+    7585           0 :     ss << "not escalating failsafe, output is disabled";
+    7586           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7587             : 
+    7588           0 :     return std::tuple(false, ss.str());
+    7589             :   }
+    7590             : 
+    7591           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7592             : 
+    7593           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7594           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7595             : 
+    7596          16 :   std::string active_tracker_name    = _tracker_names_.at(active_tracker_idx);
+    7597          16 :   std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7598             : 
+    7599           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7600             : 
+    7601           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7602             : 
+    7603           8 :   switch (next_state) {
+    7604             : 
+    7605           0 :     case ESC_NONE_STATE: {
+    7606             : 
+    7607           0 :       ss << "escalating failsafe has run to impossible situation";
+    7608           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7609             : 
+    7610           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7611             : 
+    7612             :       break;
+    7613             :     }
+    7614             : 
+    7615           2 :     case ESC_EHOVER_STATE: {
+    7616             : 
+    7617           2 :       ss << "escalating failsafe escalates to ehover";
+    7618           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7619             : 
+    7620           4 :       auto [success, message] = ehover();
+    7621             : 
+    7622           2 :       if (success) {
+    7623           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7624             :       }
+    7625             : 
+    7626           2 :       return {success, message};
+    7627             : 
+    7628             :       break;
+    7629             :     }
+    7630             : 
+    7631           2 :     case ESC_ELAND_STATE: {
+    7632             : 
+    7633           2 :       ss << "escalating failsafe escalates to eland";
+    7634           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7635             : 
+    7636           4 :       auto [success, message] = eland();
+    7637             : 
+    7638           2 :       if (success) {
+    7639           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7640             :       }
+    7641             : 
+    7642           2 :       return {success, message};
+    7643             : 
+    7644             :       break;
+    7645             :     }
+    7646             : 
+    7647           2 :     case ESC_FAILSAFE_STATE: {
+    7648             : 
+    7649           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7650             : 
+    7651           2 :       ss << "escalating failsafe escalates to failsafe";
+    7652           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7653             : 
+    7654           4 :       auto [success, message] = failsafe();
+    7655             : 
+    7656           2 :       if (success) {
+    7657           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7658             :       }
+    7659             : 
+    7660           2 :       return {success, message};
+    7661             : 
+    7662             :       break;
+    7663             :     }
+    7664             : 
+    7665           2 :     case ESC_FINISHED_STATE: {
+    7666             : 
+    7667           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7668             : 
+    7669           2 :       ss << "escalating failsafe has nothing more to do";
+    7670           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7671             : 
+    7672           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7673             : 
+    7674             :       break;
+    7675             :     }
+    7676             : 
+    7677           0 :     default: {
+    7678             : 
+    7679           0 :       break;
+    7680             :     }
+    7681             :   }
+    7682             : 
+    7683           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7684             : 
+    7685           0 :   return std::tuple(false, "escalating failsafe exception");
+    7686             : }
+    7687             : 
+    7688             : //}
+    7689             : 
+    7690             : /* getNextEscFailsafeState() //{ */
+    7691             : 
+    7692           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7693             : 
+    7694           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7695             : 
+    7696           8 :   switch (current_state) {
+    7697             : 
+    7698           2 :     case ESC_FINISHED_STATE: {
+    7699             : 
+    7700           2 :       return ESC_FINISHED_STATE;
+    7701             : 
+    7702             :       break;
+    7703             :     }
+    7704             : 
+    7705           2 :     case ESC_NONE_STATE: {
+    7706             : 
+    7707           2 :       if (_escalating_failsafe_ehover_) {
+    7708           2 :         return ESC_EHOVER_STATE;
+    7709           0 :       } else if (_escalating_failsafe_eland_) {
+    7710           0 :         return ESC_ELAND_STATE;
+    7711           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7712           0 :         return ESC_FAILSAFE_STATE;
+    7713             :       } else {
+    7714           0 :         return ESC_FINISHED_STATE;
+    7715             :       }
+    7716             : 
+    7717             :       break;
+    7718             :     }
+    7719             : 
+    7720           2 :     case ESC_EHOVER_STATE: {
+    7721             : 
+    7722           2 :       if (_escalating_failsafe_eland_) {
+    7723           2 :         return ESC_ELAND_STATE;
+    7724           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7725           0 :         return ESC_FAILSAFE_STATE;
+    7726             :       } else {
+    7727           0 :         return ESC_FINISHED_STATE;
+    7728             :       }
+    7729             : 
+    7730             :       break;
+    7731             :     }
+    7732             : 
+    7733           2 :     case ESC_ELAND_STATE: {
+    7734             : 
+    7735           2 :       if (_escalating_failsafe_failsafe_) {
+    7736           2 :         return ESC_FAILSAFE_STATE;
+    7737             :       } else {
+    7738           0 :         return ESC_FINISHED_STATE;
+    7739             :       }
+    7740             : 
+    7741             :       break;
+    7742             :     }
+    7743             : 
+    7744           0 :     case ESC_FAILSAFE_STATE: {
+    7745             : 
+    7746           0 :       return ESC_FINISHED_STATE;
+    7747             : 
+    7748             :       break;
+    7749             :     }
+    7750             :   }
+    7751             : 
+    7752           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7753             : 
+    7754           0 :   return ESC_NONE_STATE;
+    7755             : }
+    7756             : 
+    7757             : //}
+    7758             : 
+    7759             : // | ------------------- trajectory tracking ------------------ |
+    7760             : 
+    7761             : /* startTrajectoryTracking() //{ */
+    7762             : 
+    7763           2 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7764             : 
+    7765           2 :   if (!is_initialized_) {
+    7766           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7767             :   }
+    7768             : 
+    7769             :   {
+    7770           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7771             : 
+    7772           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7773           2 :     std_srvs::TriggerRequest            request;
+    7774             : 
+    7775             :     response =
+    7776           2 :         tracker_list_.at(active_tracker_idx_)->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7777             : 
+    7778           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7779             : 
+    7780           4 :       return std::tuple(response->success, response->message);
+    7781             : 
+    7782             :     } else {
+    7783             : 
+    7784           0 :       std::stringstream ss;
+    7785           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'startTrajectoryTracking()' function!";
+    7786             : 
+    7787           0 :       return std::tuple(false, ss.str());
+    7788             :     }
+    7789             :   }
+    7790             : }
+    7791             : 
+    7792             : //}
+    7793             : 
+    7794             : /* stopTrajectoryTracking() //{ */
+    7795             : 
+    7796           1 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7797             : 
+    7798           1 :   if (!is_initialized_) {
+    7799           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7800             :   }
+    7801             : 
+    7802             :   {
+    7803           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7804             : 
+    7805           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7806           1 :     std_srvs::TriggerRequest            request;
+    7807             : 
+    7808             :     response =
+    7809           1 :         tracker_list_.at(active_tracker_idx_)->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7810             : 
+    7811           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7812             : 
+    7813           2 :       return std::tuple(response->success, response->message);
+    7814             : 
+    7815             :     } else {
+    7816             : 
+    7817           0 :       std::stringstream ss;
+    7818           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7819             : 
+    7820           0 :       return std::tuple(false, ss.str());
+    7821             :     }
+    7822             :   }
+    7823             : }
+    7824             : 
+    7825             : //}
+    7826             : 
+    7827             : /* resumeTrajectoryTracking() //{ */
+    7828             : 
+    7829           1 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7830             : 
+    7831           1 :   if (!is_initialized_) {
+    7832           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7833             :   }
+    7834             : 
+    7835             :   {
+    7836           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7837             : 
+    7838           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7839           1 :     std_srvs::TriggerRequest            request;
+    7840             : 
+    7841           1 :     response = tracker_list_.at(active_tracker_idx_)
+    7842           1 :                    ->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7843             : 
+    7844           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7845             : 
+    7846           2 :       return std::tuple(response->success, response->message);
+    7847             : 
+    7848             :     } else {
+    7849             : 
+    7850           0 :       std::stringstream ss;
+    7851           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7852             : 
+    7853           0 :       return std::tuple(false, ss.str());
+    7854             :     }
+    7855             :   }
+    7856             : }
+    7857             : 
+    7858             : //}
+    7859             : 
+    7860             : /* gotoTrajectoryStart() //{ */
+    7861             : 
+    7862           2 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7863             : 
+    7864           2 :   if (!is_initialized_) {
+    7865           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7866             :   }
+    7867             : 
+    7868             :   {
+    7869           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7870             : 
+    7871           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7872           2 :     std_srvs::TriggerRequest            request;
+    7873             : 
+    7874             :     response =
+    7875           2 :         tracker_list_.at(active_tracker_idx_)->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7876             : 
+    7877           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7878             : 
+    7879           4 :       return std::tuple(response->success, response->message);
+    7880             : 
+    7881             :     } else {
+    7882             : 
+    7883           0 :       std::stringstream ss;
+    7884           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7885             : 
+    7886           0 :       return std::tuple(false, ss.str());
+    7887             :     }
+    7888             :   }
+    7889             : }
+    7890             : 
+    7891             : //}
+    7892             : 
+    7893             : // | ----------------- service client wrappers ---------------- |
+    7894             : 
+    7895             : /* arming() //{ */
+    7896             : 
+    7897          18 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7898             : 
+    7899          36 :   std::stringstream ss;
+    7900             : 
+    7901          18 :   if (input) {
+    7902             : 
+    7903           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7904           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7905           0 :     return std::tuple(false, ss.str());
+    7906             :   }
+    7907             : 
+    7908          18 :   if (!input && !isOffboard()) {
+    7909             : 
+    7910           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7911           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7912           0 :     return std::tuple(false, ss.str());
+    7913             :   }
+    7914             : 
+    7915          18 :   if (!input && _rc_emergency_handoff_) {
+    7916             : 
+    7917           0 :     toggleOutput(false);
+    7918             : 
+    7919           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7920             :   }
+    7921             : 
+    7922          18 :   std_srvs::SetBool srv_out;
+    7923             : 
+    7924          18 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7925             : 
+    7926          18 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7927             : 
+    7928          18 :   if (sch_arming_.call(srv_out)) {
+    7929             : 
+    7930          18 :     if (srv_out.response.success) {
+    7931             : 
+    7932          18 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7933          18 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7934             : 
+    7935          18 :       if (!input) {
+    7936             : 
+    7937          18 :         toggleOutput(false);
+    7938             : 
+    7939          18 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7940          18 :         timer_failsafe_.stop();
+    7941          18 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7942             : 
+    7943          18 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7944          18 :         timer_eland_.stop();
+    7945          18 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7946             :       }
+    7947             : 
+    7948             :     } else {
+    7949           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7950           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7951             :     }
+    7952             : 
+    7953             :   } else {
+    7954           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7955           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7956             :   }
+    7957             : 
+    7958          36 :   return std::tuple(srv_out.response.success, ss.str());
+    7959             : }
+    7960             : 
+    7961             : //}
+    7962             : 
+    7963             : /* odometryCallbacksSrv() //{ */
+    7964             : 
+    7965          15 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7966             : 
+    7967          15 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7968             : 
+    7969          30 :   std_srvs::SetBool srv;
+    7970             : 
+    7971          15 :   srv.request.data = input;
+    7972             : 
+    7973          15 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7974             : 
+    7975          15 :   if (res) {
+    7976             : 
+    7977          15 :     if (!srv.response.success) {
+    7978           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7979             :     }
+    7980             : 
+    7981             :   } else {
+    7982           0 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7983             :   }
+    7984          15 : }
+    7985             : 
+    7986             : //}
+    7987             : 
+    7988             : /* elandSrv() //{ */
+    7989             : 
+    7990           8 : bool ControlManager::elandSrv(void) {
+    7991             : 
+    7992           8 :   ROS_INFO("[ControlManager]: calling for eland");
+    7993             : 
+    7994          16 :   std_srvs::Trigger srv;
+    7995             : 
+    7996           8 :   bool res = sch_eland_.call(srv);
+    7997             : 
+    7998           8 :   if (res) {
+    7999             : 
+    8000           8 :     if (!srv.response.success) {
+    8001           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    8002             :     }
+    8003             : 
+    8004           8 :     return srv.response.success;
+    8005             : 
+    8006             :   } else {
+    8007             : 
+    8008           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    8009             : 
+    8010           0 :     return false;
+    8011             :   }
+    8012             : }
+    8013             : 
+    8014             : //}
+    8015             : 
+    8016             : /* parachuteSrv() //{ */
+    8017             : 
+    8018           0 : bool ControlManager::parachuteSrv(void) {
+    8019             : 
+    8020           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    8021             : 
+    8022           0 :   std_srvs::Trigger srv;
+    8023             : 
+    8024           0 :   bool res = sch_parachute_.call(srv);
+    8025             : 
+    8026           0 :   if (res) {
+    8027             : 
+    8028           0 :     if (!srv.response.success) {
+    8029           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    8030             :     }
+    8031             : 
+    8032           0 :     return srv.response.success;
+    8033             : 
+    8034             :   } else {
+    8035             : 
+    8036           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    8037             : 
+    8038           0 :     return false;
+    8039             :   }
+    8040             : }
+    8041             : 
+    8042             : //}
+    8043             : 
+    8044             : /* ungripSrv() //{ */
+    8045             : 
+    8046          73 : void ControlManager::ungripSrv(void) {
+    8047             : 
+    8048         146 :   std_srvs::Trigger srv;
+    8049             : 
+    8050          73 :   bool res = sch_ungrip_.call(srv);
+    8051             : 
+    8052          73 :   if (res) {
+    8053             : 
+    8054           0 :     if (!srv.response.success) {
+    8055           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    8056             :     }
+    8057             : 
+    8058             :   } else {
+    8059          73 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    8060             :   }
+    8061          73 : }
+    8062             : 
+    8063             : //}
+    8064             : 
+    8065             : // | ------------------------ routines ------------------------ |
+    8066             : 
+    8067             : /* toggleOutput() //{ */
+    8068             : 
+    8069         130 : void ControlManager::toggleOutput(const bool& input) {
+    8070             : 
+    8071         130 :   if (input == output_enabled_) {
+    8072           6 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    8073           6 :     return;
+    8074             :   }
+    8075             : 
+    8076         124 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    8077             : 
+    8078         124 :   output_enabled_ = input;
+    8079             : 
+    8080             :   // if switching output off, switch to NullTracker
+    8081         124 :   if (!output_enabled_) {
+    8082             : 
+    8083          20 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    8084             : 
+    8085          20 :     switchTracker(_null_tracker_name_);
+    8086             : 
+    8087          20 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    8088             : 
+    8089          20 :     switchController(_eland_controller_name_);
+    8090             : 
+    8091             :     // | --------- deactivate all trackers and controllers -------- |
+    8092             : 
+    8093         140 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    8094             : 
+    8095         120 :       std::map<std::string, TrackerParams>::iterator it;
+    8096         120 :       it = trackers_.find(_tracker_names_.at(i));
+    8097             : 
+    8098             :       try {
+    8099         120 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    8100         120 :         tracker_list_.at(i)->deactivate();
+    8101             :       }
+    8102           0 :       catch (std::runtime_error& ex) {
+    8103           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    8104             :       }
+    8105             :     }
+    8106             : 
+    8107         120 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    8108             : 
+    8109         100 :       std::map<std::string, ControllerParams>::iterator it;
+    8110         100 :       it = controllers_.find(_controller_names_.at(i));
+    8111             : 
+    8112             :       try {
+    8113         100 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    8114         100 :         controller_list_.at(i)->deactivate();
+    8115             :       }
+    8116           0 :       catch (std::runtime_error& ex) {
+    8117           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    8118             :       }
+    8119             :     }
+    8120             : 
+    8121          20 :     timer_failsafe_.stop();
+    8122          20 :     timer_eland_.stop();
+    8123          20 :     timer_pirouette_.stop();
+    8124             : 
+    8125          20 :     offboard_mode_was_true_ = false;
+    8126             :   }
+    8127             : }
+    8128             : 
+    8129             : //}
+    8130             : 
+    8131             : /* switchTracker() //{ */
+    8132             : 
+    8133         244 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    8134             : 
+    8135         732 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    8136         732 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    8137             : 
+    8138             :   // copy member variables
+    8139         488 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8140         244 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8141             : 
+    8142         488 :   std::stringstream ss;
+    8143             : 
+    8144         244 :   if (!got_uav_state_) {
+    8145             : 
+    8146           0 :     ss << "can not switch tracker, missing odometry!";
+    8147           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8148           0 :     return std::tuple(false, ss.str());
+    8149             :   }
+    8150             : 
+    8151         244 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8152             : 
+    8153           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    8154           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8155           0 :     return std::tuple(false, ss.str());
+    8156             :   }
+    8157             : 
+    8158         244 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    8159             : 
+    8160             :   // check if the tracker exists
+    8161         244 :   if (!new_tracker_idx) {
+    8162           2 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    8163           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8164           2 :     return std::tuple(false, ss.str());
+    8165             :   }
+    8166             : 
+    8167             :   // check if the tracker is already active
+    8168         242 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    8169          11 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    8170          11 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8171          11 :     return std::tuple(true, ss.str());
+    8172             :   }
+    8173             : 
+    8174             :   {
+    8175         231 :     std::scoped_lock lock(mutex_tracker_list_);
+    8176             : 
+    8177             :     try {
+    8178             : 
+    8179         231 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_.at(new_tracker_idx.value()).c_str());
+    8180             : 
+    8181         231 :       auto [success, message] = tracker_list_.at(new_tracker_idx.value())->activate(last_tracker_cmd);
+    8182             : 
+    8183         231 :       if (!success) {
+    8184             : 
+    8185           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    8186           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8187           0 :         return std::tuple(false, ss.str());
+    8188             : 
+    8189             :       } else {
+    8190             : 
+    8191         231 :         ss << "the tracker '" << tracker_name << "' was activated";
+    8192         231 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8193             : 
+    8194             :         {
+    8195         462 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8196             : 
+    8197             :           // update the time (used in failsafe)
+    8198         231 :           controller_tracker_switch_time_ = ros::Time::now();
+    8199             :         }
+    8200             : 
+    8201             :         // super important, switch the active tracker idx
+    8202             :         try {
+    8203             : 
+    8204         231 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8205         231 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8206             : 
+    8207             :           // if switching from null tracker, re-activate the already active the controller
+    8208         231 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8209             : 
+    8210         101 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8211             :             {
+    8212         202 :               std::scoped_lock lock(mutex_controller_list_);
+    8213             : 
+    8214         101 :               initializeControlOutput();
+    8215             : 
+    8216         202 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8217             : 
+    8218         101 :               controller_list_.at(active_controller_idx_)->activate(last_control_output);
+    8219             : 
+    8220             :               {
+    8221         202 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8222             : 
+    8223             :                 // update the time (used in failsafe)
+    8224         101 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8225             :               }
+    8226             :             }
+    8227             : 
+    8228             :             // if switching to null tracker, deactivate the active controller
+    8229         130 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8230             : 
+    8231          17 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8232             :             {
+    8233          34 :               std::scoped_lock lock(mutex_controller_list_);
+    8234             : 
+    8235          17 :               controller_list_.at(active_controller_idx_)->deactivate();
+    8236             :             }
+    8237             : 
+    8238             :             {
+    8239          17 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8240             : 
+    8241          17 :               last_tracker_cmd_ = {};
+    8242             :             }
+    8243             : 
+    8244          17 :             initializeControlOutput();
+    8245             :           }
+    8246             : 
+    8247         231 :           active_tracker_idx_ = new_tracker_idx.value();
+    8248             :         }
+    8249           0 :         catch (std::runtime_error& exrun) {
+    8250           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8251             :         }
+    8252             :       }
+    8253             :     }
+    8254           0 :     catch (std::runtime_error& exrun) {
+    8255           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8256           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8257             :     }
+    8258             :   }
+    8259             : 
+    8260         231 :   return std::tuple(true, ss.str());
+    8261             : }
+    8262             : 
+    8263             : //}
+    8264             : 
+    8265             : /* switchController() //{ */
+    8266             : 
+    8267         245 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8268             : 
+    8269         735 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8270         735 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8271             : 
+    8272             :   // copy member variables
+    8273         490 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8274         245 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8275             : 
+    8276         490 :   std::stringstream ss;
+    8277             : 
+    8278         245 :   if (!got_uav_state_) {
+    8279             : 
+    8280           0 :     ss << "can not switch controller, missing odometry!";
+    8281           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8282           0 :     return std::tuple(false, ss.str());
+    8283             :   }
+    8284             : 
+    8285         245 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8286             : 
+    8287           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8288           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8289           0 :     return std::tuple(false, ss.str());
+    8290             :   }
+    8291             : 
+    8292         245 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8293             : 
+    8294             :   // check if the controller exists
+    8295         245 :   if (!new_controller_idx) {
+    8296           2 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8297           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8298           2 :     return std::tuple(false, ss.str());
+    8299             :   }
+    8300             : 
+    8301             :   // check if the controller is not active
+    8302         243 :   if (new_controller_idx.value() == active_controller_idx) {
+    8303             : 
+    8304          34 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8305          34 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8306          34 :     return std::tuple(true, ss.str());
+    8307             :   }
+    8308             : 
+    8309             :   {
+    8310         209 :     std::scoped_lock lock(mutex_controller_list_);
+    8311             : 
+    8312             :     try {
+    8313             : 
+    8314         209 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_.at(new_controller_idx.value()).c_str());
+    8315         209 :       if (!controller_list_.at(new_controller_idx.value())->activate(last_control_output)) {
+    8316             : 
+    8317           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8318           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8319           0 :         return std::tuple(false, ss.str());
+    8320             : 
+    8321             :       } else {
+    8322             : 
+    8323         209 :         ss << "the controller '" << controller_name << "' was activated";
+    8324         209 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8325             : 
+    8326         209 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_.at(new_controller_idx.value()).c_str(),
+    8327             :                  _tracker_names_.at(active_tracker_idx_).c_str());
+    8328             : 
+    8329             :         // reactivate the current tracker
+    8330             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8331             :         // but it serves the purpose
+    8332             :         {
+    8333         209 :           std::scoped_lock lock(mutex_tracker_list_);
+    8334             : 
+    8335         209 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8336         209 :           tracker_list_.at(active_tracker_idx_)->activate({});
+    8337             :         }
+    8338             : 
+    8339             :         {
+    8340         418 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8341             : 
+    8342             :           // update the time (used in failsafe)
+    8343         209 :           controller_tracker_switch_time_ = ros::Time::now();
+    8344             :         }
+    8345             : 
+    8346             :         // super important, switch the active controller idx
+    8347             :         try {
+    8348             : 
+    8349         209 :           controller_list_.at(active_controller_idx_)->deactivate();
+    8350         209 :           active_controller_idx_ = new_controller_idx.value();
+    8351             :         }
+    8352           0 :         catch (std::runtime_error& exrun) {
+    8353           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    8354             :         }
+    8355             :       }
+    8356             :     }
+    8357           0 :     catch (std::runtime_error& exrun) {
+    8358           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8359           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8360             :     }
+    8361             :   }
+    8362             : 
+    8363         209 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8364             : 
+    8365             :   {
+    8366         209 :     std::scoped_lock lock(mutex_constraints_);
+    8367             : 
+    8368         209 :     sanitized_constraints_ = current_constraints_;
+    8369         209 :     sanitized_constraints  = sanitized_constraints_;
+    8370             :   }
+    8371             : 
+    8372         209 :   setConstraintsToControllers(sanitized_constraints);
+    8373             : 
+    8374         209 :   return std::tuple(true, ss.str());
+    8375             : }
+    8376             : 
+    8377             : //}
+    8378             : 
+    8379             : /* updateTrackers() //{ */
+    8380             : 
+    8381      139435 : void ControlManager::updateTrackers(void) {
+    8382             : 
+    8383      278870 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8384      278870 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8385             : 
+    8386             :   // copy member variables
+    8387      139435 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8388      139435 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8389             : 
+    8390             :   // --------------------------------------------------------------
+    8391             :   // |                     Update the trackers                    |
+    8392             :   // --------------------------------------------------------------
+    8393             : 
+    8394           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8395             : 
+    8396             :   unsigned int active_tracker_idx;
+    8397             : 
+    8398             :   {
+    8399      139435 :     std::scoped_lock lock(mutex_tracker_list_);
+    8400             : 
+    8401      139435 :     active_tracker_idx = active_tracker_idx_;
+    8402             : 
+    8403             :     // for each tracker
+    8404      977760 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8405             : 
+    8406      838325 :       if (i == active_tracker_idx) {
+    8407             : 
+    8408             :         try {
+    8409             :           // active tracker => update and retrieve the command
+    8410      139435 :           tracker_command = tracker_list_.at(i)->update(uav_state, last_control_output);
+    8411             :         }
+    8412           0 :         catch (std::runtime_error& exrun) {
+    8413           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the active tracker (%s)",
+    8414             :                              _tracker_names_.at(active_tracker_idx).c_str());
+    8415           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8416           0 :           tracker_command = {};
+    8417             :         }
+    8418             : 
+    8419             :       } else {
+    8420             : 
+    8421             :         try {
+    8422             :           // nonactive tracker => just update without retrieving the command
+    8423      698890 :           tracker_list_.at(i)->update(uav_state, last_control_output);
+    8424             :         }
+    8425           0 :         catch (std::runtime_error& exrun) {
+    8426           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the tracker '%s'", _tracker_names_.at(i).c_str());
+    8427           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8428             :         }
+    8429             :       }
+    8430             :     }
+    8431             : 
+    8432      139435 :     if (active_tracker_idx == _null_tracker_idx_) {
+    8433       38233 :       return;
+    8434             :     }
+    8435             :   }
+    8436             : 
+    8437      101202 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8438             : 
+    8439      202404 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8440             : 
+    8441      101202 :     last_tracker_cmd_ = tracker_command;
+    8442             : 
+    8443             :     // | --------- fill in the potentially missing header --------- |
+    8444             : 
+    8445      101202 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8446           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8447             :     }
+    8448             : 
+    8449      101202 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8450           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8451             :     }
+    8452             : 
+    8453             :   } else {
+    8454             : 
+    8455           0 :     if (active_tracker_idx == _ehover_tracker_idx_) {
+    8456             : 
+    8457           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the emergency tracker '%s' returned empty or invalid command!",
+    8458             :                          _tracker_names_.at(active_tracker_idx).c_str());
+    8459           0 :       failsafe();
+    8460             : 
+    8461             :     } else {
+    8462             : 
+    8463           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_.at(active_tracker_idx).c_str());
+    8464             : 
+    8465           0 :       if (_tracker_error_action_ == ELAND_STR) {
+    8466           0 :         eland();
+    8467           0 :       } else if (_tracker_error_action_ == EHOVER_STR) {
+    8468           0 :         ehover();
+    8469             :       } else {
+    8470           0 :         failsafe();
+    8471             :       }
+    8472             :     }
+    8473             :   }
+    8474             : }
+    8475             : 
+    8476             : //}
+    8477             : 
+    8478             : /* updateControllers() //{ */
+    8479             : 
+    8480      149154 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8481             : 
+    8482      298308 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8483      298308 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8484             : 
+    8485             :   // copy member variables
+    8486      149154 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8487             : 
+    8488             :   // | ----------------- update the controllers ----------------- |
+    8489             : 
+    8490             :   // the trackers are not running
+    8491      149154 :   if (!last_tracker_cmd) {
+    8492             : 
+    8493             :     {
+    8494       76466 :       std::scoped_lock lock(mutex_controller_list_);
+    8495             : 
+    8496             :       // nonactive controller => just update without retrieving the command
+    8497      229398 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8498      191165 :         controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8499             :       }
+    8500             :     }
+    8501             : 
+    8502       38233 :     return;
+    8503             :   }
+    8504             : 
+    8505      221842 :   Controller::ControlOutput control_output;
+    8506             : 
+    8507             :   unsigned int active_controller_idx;
+    8508             : 
+    8509             :   {
+    8510      221842 :     std::scoped_lock lock(mutex_controller_list_);
+    8511             : 
+    8512      110921 :     active_controller_idx = active_controller_idx_;
+    8513             : 
+    8514             :     // for each controller
+    8515      665526 :     for (size_t i = 0; i < controller_list_.size(); i++) {
+    8516             : 
+    8517      554605 :       if (i == active_controller_idx) {
+    8518             : 
+    8519             :         try {
+    8520             :           // active controller => update and retrieve the command
+    8521      110921 :           control_output = controller_list_.at(active_controller_idx)->updateActive(uav_state, last_tracker_cmd.value());
+    8522             :         }
+    8523           0 :         catch (std::runtime_error& exrun) {
+    8524             : 
+    8525           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: an exception while updating the active controller (%s)",
+    8526             :                              _controller_names_.at(active_controller_idx).c_str());
+    8527           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8528             :         }
+    8529             : 
+    8530             :       } else {
+    8531             : 
+    8532             :         try {
+    8533             :           // nonactive controller => just update without retrieving the command
+    8534      443684 :           controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8535             :         }
+    8536           0 :         catch (std::runtime_error& exrun) {
+    8537             : 
+    8538           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_.at(i).c_str());
+    8539           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8540             :         }
+    8541             :       }
+    8542             :     }
+    8543             :   }
+    8544             : 
+    8545             :   // normally, the active controller returns a valid command
+    8546      110921 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8547             : 
+    8548      110921 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8549             : 
+    8550             :     // but it can return an empty command, due to some critical internal error
+    8551             :     // which means we should trigger the failsafe landing
+    8552             :   } else {
+    8553             : 
+    8554             :     // only if the controller is still active, trigger escalating failsafe
+    8555             :     // if not active, we don't care, we should not ask the controller for
+    8556             :     // the result anyway -> this could mean a race condition occured
+    8557             :     // like it once happend during landing
+    8558           0 :     bool controller_status = false;
+    8559             : 
+    8560             :     {
+    8561           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8562             : 
+    8563           0 :       controller_status = controller_list_.at(active_controller_idx)->getStatus().active;
+    8564             :     }
+    8565             : 
+    8566           0 :     if (controller_status) {
+    8567             : 
+    8568           0 :       if (failsafe_triggered_) {
+    8569             : 
+    8570           0 :         ROS_ERROR("[ControlManager]: disabling control, the active controller returned an empty command when failsafe was active");
+    8571             : 
+    8572           0 :         toggleOutput(false);
+    8573             : 
+    8574           0 :       } else if (eland_triggered_) {
+    8575             : 
+    8576           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the active controller returned an empty command when eland was active");
+    8577             : 
+    8578           0 :         failsafe();
+    8579             : 
+    8580             :       } else {
+    8581             : 
+    8582           0 :         ROS_ERROR("[ControlManager]: triggering eland, the active controller returned an empty command");
+    8583             : 
+    8584           0 :         eland();
+    8585             :       }
+    8586             :     }
+    8587             :   }
+    8588             : }
+    8589             : 
+    8590             : //}
+    8591             : 
+    8592             : /* publish() //{ */
+    8593             : 
+    8594      149154 : void ControlManager::publish(void) {
+    8595             : 
+    8596      298308 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8597      298308 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8598             : 
+    8599             :   // copy member variables
+    8600      149154 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8601      149154 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8602      149154 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8603      149154 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8604      149154 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8605             : 
+    8606      149154 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8607             : 
+    8608             :   // --------------------------------------------------------------
+    8609             :   // |                 Publish the control command                |
+    8610             :   // --------------------------------------------------------------
+    8611             : 
+    8612      149154 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8613      149154 :   attitude_target.stamp = ros::Time::now();
+    8614             : 
+    8615      149154 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8616      149154 :   attitude_rate_target.stamp = ros::Time::now();
+    8617             : 
+    8618      149154 :   if (!output_enabled_) {
+    8619             : 
+    8620       23878 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8621             : 
+    8622      125276 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8623             : 
+    8624       14359 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8625             : 
+    8626             :     Controller::HwApiOutputVariant output =
+    8627       28718 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8628             : 
+    8629             :     {
+    8630       28718 :       std::scoped_lock lock(mutex_last_control_output_);
+    8631             : 
+    8632       14359 :       last_control_output_.control_output = output;
+    8633             :     }
+    8634             : 
+    8635       14359 :     control_output_publisher_.publish(output);
+    8636             : 
+    8637      110917 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8638             : 
+    8639           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8640             :                       _controller_names_.at(active_controller_idx).c_str());
+    8641             : 
+    8642             :     Controller::HwApiOutputVariant output =
+    8643           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8644             : 
+    8645           0 :     control_output_publisher_.publish(output);
+    8646             : 
+    8647      110917 :   } else if (last_control_output.control_output) {
+    8648             : 
+    8649      110917 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8650      110917 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8651             :     } else {
+    8652           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8653           0 :       return;
+    8654             :     }
+    8655             : 
+    8656             :   } else {
+    8657           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8658             :   }
+    8659             : 
+    8660             :   // | ----------- publish the controller diagnostics ----------- |
+    8661             : 
+    8662      149154 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8663             : 
+    8664             :   // | --------- publish the applied throttle and thrust -------- |
+    8665             : 
+    8666      149154 :   auto throttle = extractThrottle(last_control_output);
+    8667             : 
+    8668      149154 :   if (throttle) {
+    8669             : 
+    8670             :     {
+    8671      119505 :       std_msgs::Float64 msg;
+    8672      119505 :       msg.data = throttle.value();
+    8673      119505 :       ph_throttle_.publish(msg);
+    8674             :     }
+    8675             : 
+    8676      119505 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8677             : 
+    8678             :     {
+    8679      119505 :       std_msgs::Float64 msg;
+    8680      119505 :       msg.data = thrust;
+    8681      119505 :       ph_thrust_.publish(msg);
+    8682             :     }
+    8683             :   }
+    8684             : 
+    8685             :   // | ----------------- publish tracker command ---------------- |
+    8686             : 
+    8687      149154 :   if (last_tracker_cmd) {
+    8688      110917 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8689             :   }
+    8690             : 
+    8691             :   // | --------------- publish the odometry input --------------- |
+    8692             : 
+    8693      149154 :   if (last_control_output.control_output) {
+    8694             : 
+    8695      252388 :     mrs_msgs::EstimatorInput msg;
+    8696             : 
+    8697      126194 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8698      126194 :     msg.header.stamp    = ros::Time::now();
+    8699             : 
+    8700      126194 :     if (last_control_output.desired_unbiased_acceleration) {
+    8701       96254 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()(0);
+    8702       96254 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()(1);
+    8703       96254 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()(2);
+    8704             :     }
+    8705             : 
+    8706      126194 :     if (last_control_output.desired_heading_rate) {
+    8707       92875 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8708             :     }
+    8709             : 
+    8710      126194 :     if (last_control_output.desired_unbiased_acceleration) {
+    8711       96254 :       ph_mrs_odom_input_.publish(msg);
+    8712             :     }
+    8713             :   }
+    8714             : }
+    8715             : 
+    8716             : //}
+    8717             : 
+    8718             : /* deployParachute() //{ */
+    8719             : 
+    8720           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8721             : 
+    8722             :   // if not enabled, return false
+    8723           0 :   if (!_parachute_enabled_) {
+    8724             : 
+    8725           0 :     std::stringstream ss;
+    8726           0 :     ss << "can not deploy parachute, it is disabled";
+    8727           0 :     return std::tuple(false, ss.str());
+    8728             :   }
+    8729             : 
+    8730             :   // we can not disarm if the drone is not in offboard mode
+    8731             :   // this is super important!
+    8732           0 :   if (!isOffboard()) {
+    8733             : 
+    8734           0 :     std::stringstream ss;
+    8735           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8736           0 :     return std::tuple(false, ss.str());
+    8737             :   }
+    8738             : 
+    8739             :   // call the parachute service
+    8740           0 :   bool succ = parachuteSrv();
+    8741             : 
+    8742             :   // if the deployment was successful,
+    8743           0 :   if (succ) {
+    8744             : 
+    8745           0 :     arming(false);
+    8746             : 
+    8747           0 :     std::stringstream ss;
+    8748           0 :     ss << "parachute deployed";
+    8749             : 
+    8750           0 :     return std::tuple(true, ss.str());
+    8751             : 
+    8752             :   } else {
+    8753             : 
+    8754           0 :     std::stringstream ss;
+    8755           0 :     ss << "error during deployment of parachute";
+    8756             : 
+    8757           0 :     return std::tuple(false, ss.str());
+    8758             :   }
+    8759             : }
+    8760             : 
+    8761             : //}
+    8762             : 
+    8763             : /* velocityReferenceToReference() //{ */
+    8764             : 
+    8765         822 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8766             : 
+    8767        1644 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8768        1644 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8769         822 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8770             : 
+    8771         822 :   mrs_msgs::ReferenceStamped reference_out;
+    8772             : 
+    8773         822 :   reference_out.header = vel_reference.header;
+    8774             : 
+    8775         822 :   if (vel_reference.reference.use_heading) {
+    8776           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8777         822 :   } else if (vel_reference.reference.use_heading_rate) {
+    8778         731 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8779             :   } else {
+    8780          91 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8781             :   }
+    8782             : 
+    8783         822 :   if (vel_reference.reference.use_altitude) {
+    8784           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8785             :   } else {
+    8786             : 
+    8787         822 :     double stopping_time_z = 0;
+    8788             : 
+    8789         822 :     if (vel_reference.reference.velocity.x >= 0) {
+    8790         551 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8791             :     } else {
+    8792         271 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8793             :     }
+    8794             : 
+    8795         822 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8796             :   }
+    8797             : 
+    8798             :   {
+    8799         822 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8800         822 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8801             : 
+    8802         822 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8803         822 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8804             :   }
+    8805             : 
+    8806        1644 :   return reference_out;
+    8807             : }
+    8808             : 
+    8809             : //}
+    8810             : 
+    8811             : /* publishControlReferenceOdom() //{ */
+    8812             : 
+    8813      149154 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8814             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8815             : 
+    8816      149154 :   if (!tracker_command || !control_output.control_output) {
+    8817       38237 :     return;
+    8818             :   }
+    8819             : 
+    8820      221834 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8821             : 
+    8822      221834 :   nav_msgs::Odometry msg;
+    8823             : 
+    8824      110917 :   msg.header = tracker_command->header;
+    8825             : 
+    8826      110917 :   if (tracker_command->use_position_horizontal) {
+    8827      110917 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8828      110917 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8829             :   } else {
+    8830           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8831           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8832             :   }
+    8833             : 
+    8834      110917 :   if (tracker_command->use_position_vertical) {
+    8835      110917 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8836             :   } else {
+    8837           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8838             :   }
+    8839             : 
+    8840             :   // transform the velocity in the reference to the child_frame
+    8841      110917 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8842             : 
+    8843      110917 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8844             : 
+    8845      221834 :     geometry_msgs::Vector3Stamped velocity;
+    8846      110917 :     velocity.header = tracker_command->header;
+    8847             : 
+    8848      110917 :     if (tracker_command->use_velocity_horizontal) {
+    8849      110917 :       velocity.vector.x = tracker_command->velocity.x;
+    8850      110917 :       velocity.vector.y = tracker_command->velocity.y;
+    8851             :     }
+    8852             : 
+    8853      110917 :     if (tracker_command->use_velocity_vertical) {
+    8854      110917 :       velocity.vector.z = tracker_command->velocity.z;
+    8855             :     }
+    8856             : 
+    8857      221834 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8858             : 
+    8859      110917 :     if (res) {
+    8860      110917 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8861      110917 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8862      110917 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8863             :     } else {
+    8864           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8865             :                          msg.child_frame_id.c_str());
+    8866             :     }
+    8867             :   }
+    8868             : 
+    8869             :   // fill in the orientation or heading
+    8870      110917 :   if (control_output.desired_orientation) {
+    8871       94067 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8872       16850 :   } else if (tracker_command->use_heading) {
+    8873       16850 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8874             :   }
+    8875             : 
+    8876             :   // fill in the attitude rate
+    8877      110917 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8878             : 
+    8879       88016 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8880             : 
+    8881       88016 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8882       88016 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8883       88016 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8884             :   }
+    8885             : 
+    8886      110917 :   ph_control_reference_odom_.publish(msg);
+    8887             : }
+    8888             : 
+    8889             : //}
+    8890             : 
+    8891             : /* initializeControlOutput() //{ */
+    8892             : 
+    8893         226 : void ControlManager::initializeControlOutput(void) {
+    8894             : 
+    8895         226 :   Controller::ControlOutput controller_output;
+    8896             : 
+    8897         226 :   controller_output.diagnostics.total_mass      = _uav_mass_;
+    8898         226 :   controller_output.diagnostics.mass_difference = 0.0;
+    8899             : 
+    8900         226 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8901         226 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8902             : 
+    8903         226 :   if (std::abs(_initial_body_disturbance_x_) > 0.001 || std::abs(_initial_body_disturbance_y_) > 0.001) {
+    8904           0 :     controller_output.diagnostics.disturbance_estimator = true;
+    8905             :   }
+    8906             : 
+    8907         226 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8908         226 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8909             : 
+    8910         226 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8911         226 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8912             : 
+    8913         226 :   controller_output.diagnostics.controller = "none";
+    8914             : 
+    8915         226 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8916         226 : }
+    8917             : 
+    8918             : //}
+    8919             : 
+    8920             : }  // namespace control_manager
+    8921             : 
+    8922             : }  // namespace mrs_uav_managers
+    8923             : 
+    8924             : #include <pluginlib/class_list_macros.h>
+    8925         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::control_manager::ControlManager, nodelet::Nodelet)
+
+
+
+ + + + +
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:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
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<unnamed>68.8 %2548 / 370284.8 %95 / 112
output_publisher.cpp +
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
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<unnamed>68.8 %2548 / 370284.8 %95 / 112
output_publisher.cpp +
100.0%
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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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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:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
+ 		68.8 %2548 / 370284.8 %95 / 112
<unnamed>68.8 %2548 / 370284.8 %95 / 112
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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Test:MRS UAV System - Test coverage reportLines:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
+ 		68.8 %2548 / 370284.8 %95 / 112
output_publisher.cpp +
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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:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
+ 		68.8 %2548 / 370284.8 %95 / 112
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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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:2591374569.2 %
Date:2024-10-08 22:31:24Functions:10712486.3 %
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 +
68.8%68.8%
+ 		68.8 %2548 / 370284.8 %95 / 112
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
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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:2024-10-08 22:31:24Functions: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&)108
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()108
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3990
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
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&)125276
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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_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-10-08 22:31:24Functions: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&)3990
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8193
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1445
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102375
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4029
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1099
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2482
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1100
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&)125276
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)108
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()108
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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..8a63c3b852 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:1212100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         108 : OutputPublisher::OutputPublisher() {
+      10         108 : }
+      11             : 
+      12         108 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14         108 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15         108 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16         108 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17         108 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18         108 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19         108 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20         108 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21         108 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22         108 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23         108 : }
+      24             : 
+      25      125276 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27      125276 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28      125276 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3990 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3990 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3990 : }
+      35             : 
+      36        4029 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        4029 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        4029 : }
+      39             : 
+      40      102375 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41      102375 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42      102375 : }
+      43             : 
+      44        8193 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        8193 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        8193 : }
+      47             : 
+      48        1100 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49        1100 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50        1100 : }
+      51             : 
+      52        1099 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53        1099 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54        1099 : }
+      55             : 
+      56        2482 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57        2482 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58        2482 : }
+      59             : 
+      60        1445 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61        1445 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62        1445 : }
+      63             : 
+      64         563 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         563 :   ph_hw_api_position_cmd_.publish(msg);
+      66         563 : }
+      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..a0e6676b9b --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html @@ -0,0 +1,180 @@ + + + + + + + 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:37557864.9 %
Date:2024-10-08 22:31:24Functions:212584.0 %
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::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::callbackResetEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()5
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)5
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)5
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)108
mrs_uav_managers::estimation_manager::EstimationManager::onInit()108
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()108
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)142
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)346
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const346
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const692
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3584
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19555
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)20767
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const193913
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)193914
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)193915
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const214672
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const408506
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1861902
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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..fbb44389ea --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html @@ -0,0 +1,180 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37557864.9 %
Date:2024-10-08 22:31:24Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)346
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()5
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)193914
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&)193915
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)5
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)108
mrs_uav_managers::estimation_manager::EstimationManager::callbackResetEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)5
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)20767
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> >&)142
mrs_uav_managers::estimation_manager::EstimationManager::onInit()108
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()108
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const346
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const408506
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const692
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const193913
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const214672
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19555
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1861902
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3584
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+
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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..ee49e2185d --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html @@ -0,0 +1,1412 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37557864.9 %
Date:2024-10-08 22:31:24Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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_FLIGHT_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        1512 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77         108 :   }
+      78             : 
+      79     1861902 :   bool isInState(const SMState_t& state) const {
+      80     1861902 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      408506 :   bool isInitialized() const {
+      84      408506 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      214672 :   bool isInPublishableState() const {
+      88      214672 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89      167606 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      382285 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      193913 :   bool isInSwitchableState() const {
+      94      193913 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      193913 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      96      193913 :            current_state == LANDING_STATE;
+      97             :   }
+      98             : 
+      99             :   bool isInTheAir() const {
+     100             :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+     101             :     return current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE || current_state == LANDING_STATE;
+     102             :   }
+     103             : 
+     104             :   SMState_t getCurrentState() const {
+     105             :     return mrs_lib::get_mutexed(mtx_state_, current_state_);
+     106             :   }
+     107             : 
+     108       19555 :   std::string getCurrentStateString() const {
+     109       19555 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     110             :   }
+     111             : 
+     112         692 :   std::string getStateAsString(const SMState_t& state) const {
+     113         692 :     return sm_state_names_[state];
+     114             :   }
+     115             : 
+     116             :   /*//{ changeState() */
+     117         346 :   bool changeState(const SMState_t& target_state) {
+     118             : 
+     119         346 :     if (target_state == current_state_) {
+     120             : 
+     121           0 :       ROS_WARN("[%s]: requested change to same state %s -> %s", getPrintName().c_str(), getStateAsString(current_state_).c_str(),
+     122             :                getStateAsString(target_state).c_str());
+     123           0 :       return true;
+     124             :     }
+     125             : 
+     126         346 :     switch (target_state) {
+     127             : 
+     128           0 :       case UNINITIALIZED_STATE: {
+     129           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is not possible from any state", getPrintName().c_str(), getStateAsString(UNINITIALIZED_STATE).c_str());
+     130           0 :         return false;
+     131             :         break;
+     132             :       }
+     133             : 
+     134         108 :       case INITIALIZED_STATE: {
+     135         108 :         if (current_state_ != UNINITIALIZED_STATE) {
+     136           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     137             :                              getStateAsString(UNINITIALIZED_STATE).c_str());
+     138           0 :           return false;
+     139             :         }
+     140         108 :         break;
+     141             :       }
+     142             : 
+     143         108 :       case READY_FOR_FLIGHT_STATE: {
+     144         108 :         if (current_state_ != INITIALIZED_STATE && current_state_ != LANDED_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     145           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s or %s", getPrintName().c_str(),
+     146             :                              getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     147             :                              getStateAsString(LANDED_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     148           0 :           return false;
+     149             :         }
+     150         108 :         break;
+     151             :       }
+     152             : 
+     153          22 :       case TAKING_OFF_STATE: {
+     154          22 :         if (current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     155           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(TAKING_OFF_STATE).c_str(),
+     156             :                              getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     157           0 :           return false;
+     158             :         }
+     159          22 :         break;
+     160             :       }
+     161             : 
+     162         103 :       case FLYING_STATE: {
+     163         103 :         if (current_state_ != TAKING_OFF_STATE && current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     164           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(),
+     165             :                              getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(),
+     166             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     167           0 :           return false;
+     168             :         }
+     169         103 :         break;
+     170             :       }
+     171             : 
+     172           0 :       case HOVER_STATE: {
+     173           0 :         if (current_state_ != FLYING_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     174           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(HOVER_STATE).c_str(),
+     175             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     176           0 :           return false;
+     177             :         }
+     178           0 :         break;
+     179             :       }
+     180             : 
+     181           5 :       case ESTIMATOR_SWITCHING_STATE: {
+     182           5 :         if (current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != TAKING_OFF_STATE  && current_state_ != HOVER_STATE && current_state_ != FLYING_STATE && current_state_ != LANDING_STATE) {
+     183           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s, %s, %s or %s", getPrintName().c_str(),
+     184             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str(), getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(FLYING_STATE).c_str(),
+     185             :                              getStateAsString(HOVER_STATE).c_str(), getStateAsString(FLYING_STATE).c_str());
+     186           0 :           return false;
+     187             :         }
+     188           5 :         pre_switch_state_ = current_state_;
+     189           5 :         break;
+     190             :       }
+     191             : 
+     192           0 :       case LANDING_STATE: {
+     193           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     194           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s or %s", getPrintName().c_str(), getStateAsString(LANDING_STATE).c_str(),
+     195             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     196           0 :           return false;
+     197             :         }
+     198           0 :         break;
+     199             :       }
+     200             : 
+     201           0 :       case LANDED_STATE: {
+     202           0 :         if (current_state_ != LANDING_STATE) {
+     203           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(LANDED_STATE).c_str(),
+     204             :                              getStateAsString(LANDING_STATE).c_str());
+     205           0 :           return false;
+     206             :         }
+     207           0 :         break;
+     208             :       }
+     209             : 
+     210           0 :       case DUMMY_STATE: {
+     211           0 :         if (current_state_ != INITIALIZED_STATE) {
+     212           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(DUMMY_STATE).c_str(),
+     213             :                              getStateAsString(INITIALIZED_STATE).c_str());
+     214           0 :           return false;
+     215             :         }
+     216           0 :         break;
+     217             :       }
+     218           0 :       case EMERGENCY_STATE: {
+     219           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(EMERGENCY_STATE).c_str());
+     220           0 :         break;
+     221             :       }
+     222             : 
+     223           0 :       case ERROR_STATE: {
+     224           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(ERROR_STATE).c_str());
+     225           0 :         break;
+     226             :       }
+     227             : 
+     228           0 :       case FAILSAFE_STATE: {
+     229           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(FAILSAFE_STATE).c_str());
+     230           0 :         break;
+     231             :       }
+     232             : 
+     233           0 :       default: {
+     234           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: rejected transition to unknown state id %d", getPrintName().c_str(), target_state);
+     235           0 :         return false;
+     236             :         break;
+     237             :       }
+     238             :     }
+     239             : 
+     240         346 :     std::scoped_lock lock(mtx_state_);
+     241             :     {
+     242         346 :       previous_state_ = current_state_;
+     243         346 :       current_state_  = target_state;
+     244             :     }
+     245             : 
+     246         346 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     247             :              getStateAsString(current_state_).c_str());
+     248             : 
+     249         346 :     return true;
+     250             :   }
+     251             :   /*//}*/
+     252             : 
+     253             :   /*//{ changeToPreSwitchState() */
+     254           5 :   void changeToPreSwitchState() {
+     255           5 :     changeState(pre_switch_state_);
+     256           5 :   }
+     257             :   /*//}*/
+     258             : 
+     259             : private:
+     260             :   const std::string name_ = "StateMachine";
+     261             :   const std::string nodelet_name_;
+     262             : 
+     263             :   SMState_t current_state_    = UNINITIALIZED_STATE;
+     264             :   SMState_t previous_state_   = UNINITIALIZED_STATE;
+     265             :   SMState_t pre_switch_state_ = UNINITIALIZED_STATE;
+     266             : 
+     267             :   mutable std::mutex mtx_state_;
+     268             : 
+     269             :   std::string getName() const {
+     270             :     return name_;
+     271             :   }
+     272             : 
+     273         346 :   std::string getPrintName() const {
+     274         692 :     return nodelet_name_ + "/" + name_;
+     275             :   }
+     276             : 
+     277             :   // clang-format off
+     278             :   const std::vector<std::string> sm_state_names_ = {
+     279             :   "UNINITIALIZED_STATE",
+     280             :   "INITIALIZED_STATE",
+     281             :   "READY_FOR_FLIGHT_STATE",
+     282             :   "TAKING_OFF_STATE",
+     283             :   "FLYING_STATE",
+     284             :   "HOVER_STATE",
+     285             :   "LANDING_STATE",
+     286             :   "LANDED_STATE",
+     287             :   "ESTIMATOR_SWITCHING_STATE",
+     288             :   "DUMMY_STATE",
+     289             :   "EMERGENCY_STATE",
+     290             :   "FAILSAFE_STATE",
+     291             :   "ERROR_STATE"
+     292             :   };
+     293             :   // clang-format on
+     294             : };
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ class EstimationManager */
+     298             : class EstimationManager : public nodelet::Nodelet {
+     299             : 
+     300             : private:
+     301             :   const std::string nodelet_name_ = "EstimationManager";
+     302             :   const std::string package_name_ = "mrs_uav_managers";
+     303             : 
+     304             :   ros::NodeHandle nh_;
+     305             : 
+     306             :   std::string _custom_config_;
+     307             :   std::string _platform_config_;
+     308             :   std::string _world_config_;
+     309             : 
+     310             :   std::shared_ptr<CommonHandlers_t> ch_;
+     311             : 
+     312             :   std::shared_ptr<StateMachine> sm_;
+     313             : 
+     314             :   std::string after_midair_activation_tracker_name_;
+     315             :   std::string takeoff_tracker_name_;
+     316             : 
+     317             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     318             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>            sh_control_input_;
+     319             : 
+     320             :   mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics> ph_diagnostics_;
+     321             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>        ph_max_flight_z_;
+     322             :   mrs_lib::PublisherHandler<mrs_msgs::UavState>              ph_uav_state_;
+     323             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_main_;
+     324             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_slow_;  // use topic throttler instead?
+     325             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_innovation_;
+     326             : 
+     327             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_amsl_;
+     328             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_agl_;
+     329             : 
+     330             :   mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_orientation_;
+     331             : 
+     332             :   ros::Timer timer_publish_;
+     333             :   void       timerPublish(const ros::TimerEvent& event);
+     334             : 
+     335             :   ros::Timer timer_publish_diagnostics_;
+     336             :   void       timerPublishDiagnostics(const ros::TimerEvent& event);
+     337             : 
+     338             :   ros::Timer timer_check_health_;
+     339             :   void       timerCheckHealth(const ros::TimerEvent& event);
+     340             : 
+     341             :   ros::Timer timer_initialization_;
+     342             :   void       timerInitialization(const ros::TimerEvent& event);
+     343             : 
+     344             :   ros::ServiceServer srvs_change_estimator_;
+     345             :   bool               callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     346             :   int                estimator_switch_count_ = 0;
+     347             : 
+     348             :   ros::ServiceServer srvs_reset_estimator_;
+     349             :   bool               callbackResetEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     350             : 
+     351             : 
+     352             :   ros::ServiceServer srvs_toggle_callbacks_;
+     353             :   bool               callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     354             :   bool               callbacks_enabled_             = false;
+     355             :   bool               callbacks_disabled_by_service_ = false;
+     356             : 
+     357             :   bool                                             callFailsafeService();
+     358             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvch_failsafe_;
+     359             :   bool                                             failsafe_call_succeeded_ = false;
+     360             : 
+     361             :   // TODO service clients
+     362             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_hover_; */
+     363             :   /* mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> srvc_reference_; */
+     364             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_ehover_; */
+     365             :   /* mrs_lib::ServiceClientHandler<std_srvs::SetBool> srvc_enable_callbacks_; */
+     366             : 
+     367             :   // | ------------- dynamic loading of estimators ------------- |
+     368             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>> state_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     369             :   std::vector<std::string>                                                  estimator_names_;         // list of estimator names
+     370             :   std::vector<boost::shared_ptr<mrs_uav_managers::StateEstimator>>          estimator_list_;          // list of estimators
+     371             :   std::mutex                                                                mutex_estimator_list_;
+     372             :   std::vector<std::string>                                                  switchable_estimator_names_;
+     373             :   std::mutex                                                                mutex_switchable_estimator_names_;
+     374             :   std::string                                                               initial_estimator_name_ = "UNDEFINED_INITIAL_ESTIMATOR";
+     375             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       initial_estimator_;
+     376             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       active_estimator_;
+     377             :   std::mutex                                                                mutex_active_estimator_;
+     378             : 
+     379             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>> agl_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     380             :   std::string                                                             est_alt_agl_name_ = "UNDEFINED_AGL_ESTIMATOR";
+     381             :   boost::shared_ptr<mrs_uav_managers::AglEstimator>                       est_alt_agl_;
+     382             :   bool                                                                    is_using_agl_estimator_;
+     383             : 
+     384             :   double max_flight_z_;
+     385             : 
+     386             :   bool switchToHealthyEstimator();
+     387             :   void switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator);
+     388             : 
+     389             :   bool loadConfigFile(const std::string& file_path);
+     390             : 
+     391             : public:
+     392         108 :   EstimationManager() {
+     393         108 :   }
+     394             : 
+     395             :   void onInit();
+     396             : 
+     397             :   std::string getName() const;
+     398             : };
+     399             : /*//}*/
+     400             : 
+     401             : /*//{ onInit() */
+     402         108 : void EstimationManager::onInit() {
+     403             : 
+     404         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     405             : 
+     406         108 :   ros::Time::waitForValid();
+     407             : 
+     408         108 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     409             : 
+     410         108 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     411             : 
+     412         108 :   ch_ = std::make_shared<CommonHandlers_t>();
+     413             : 
+     414         108 :   ch_->nodelet_name = nodelet_name_;
+     415         108 :   ch_->package_name = package_name_;
+     416             : 
+     417             :   // finish initialization in a oneshot timer, so that we don't block loading of other nodelets by the nodelet manager
+     418         108 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     419         108 : }
+     420             : /*//}*/
+     421             : 
+     422             : // --------------------------------------------------------------
+     423             : // |                          callbacks                         |
+     424             : // --------------------------------------------------------------
+     425             : 
+     426             : // | --------------------- timer callbacks -------------------- |
+     427             : 
+     428             : /*//{ timerPublish() */
+     429      193914 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     430             : 
+     431      193914 :   if (!sm_->isInitialized()) {
+     432       21290 :     return;
+     433             :   }
+     434             : 
+     435      387824 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     436             : 
+     437      193912 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     438           0 :     ROS_WARN("[%s]: Not publishing during estimator switching.", getName().c_str());
+     439           0 :     return;
+     440             :   }
+     441             : 
+     442      193912 :   if (!sm_->isInPublishableState()) {
+     443       21288 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     444       21288 :     return;
+     445             :   }
+     446             : 
+     447      172624 :   mrs_msgs::UavState uav_state;
+     448      172624 :   auto               ret = active_estimator_->getUavState();
+     449      172624 :   if (ret) {
+     450      172624 :     uav_state = ret.value();
+     451             :   } else {
+     452           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     453           0 :     return;
+     454             :   }
+     455             : 
+     456      172624 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     457           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     458           0 :     return;
+     459             :   }
+     460             : 
+     461             : 
+     462      172624 :   if (active_estimator_->isMitigatingJump()) {
+     463           0 :     estimator_switch_count_++;
+     464             :   }
+     465      172624 :   uav_state.estimator_iteration = estimator_switch_count_;
+     466             : 
+     467      172624 :   scope_timer.checkpoint("get uav state");
+     468             :   // TODO state health checks
+     469             : 
+     470      172624 :   ph_uav_state_.publish(uav_state);
+     471             : 
+     472      172624 :   scope_timer.checkpoint("pub uav state");
+     473      345248 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     474             : 
+     475      172624 :   scope_timer.checkpoint("uav state to odom");
+     476      345248 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     477     6387093 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     478     6214464 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     479             :   }
+     480             : 
+     481      345248 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     482     6387093 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     483     6214464 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     484             :   }
+     485             : 
+     486      172624 :   scope_timer.checkpoint("get covariance");
+     487      172624 :   ph_odom_main_.publish(odom_main);
+     488             : 
+     489      345248 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     490      172624 :   ph_innovation_.publish(innovation);
+     491             : 
+     492             : 
+     493      345248 :   mrs_msgs::Float64Stamped agl_height;
+     494             : 
+     495      172624 :   if (is_using_agl_estimator_) {
+     496      142489 :     agl_height = est_alt_agl_->getUavAglHeight();
+     497      142489 :     ph_altitude_agl_.publish(agl_height);
+     498             :   }
+     499             : }
+     500             : /*//}*/
+     501             : 
+     502             : /*//{ timerPublishDiagnostics() */
+     503       20767 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     504             : 
+     505       20767 :   if (!sm_->isInitialized()) {
+     506        2105 :     return;
+     507             :   }
+     508             : 
+     509       41534 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     510             : 
+     511       20767 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     512           0 :     ROS_WARN("[%s]: Not publishing diagnostics during estimator switching.", getName().c_str());
+     513           0 :     return;
+     514             :   }
+     515             : 
+     516       20767 :   if (!sm_->isInPublishableState()) {
+     517        2105 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     518        2105 :     return;
+     519             :   }
+     520             : 
+     521       18662 :   mrs_msgs::UavState uav_state;
+     522       18662 :   auto               ret = active_estimator_->getUavState();
+     523       18662 :   if (ret) {
+     524       18662 :     uav_state = ret.value();
+     525             :   } else {
+     526           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     527           0 :     return;
+     528             :   }
+     529             : 
+     530       18662 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     531           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     532           0 :     return;
+     533             :   }
+     534             : 
+     535       37324 :   mrs_msgs::Float64Stamped agl_height;
+     536             : 
+     537       18662 :   if (is_using_agl_estimator_) {
+     538       14452 :     agl_height = est_alt_agl_->getUavAglHeight();
+     539       14452 :     ph_altitude_agl_.publish(agl_height);
+     540             :   }
+     541             : 
+     542       37324 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     543       18662 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     544       18662 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     545       18662 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     546       18662 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     547             :   }
+     548       18662 :   max_flight_z_ = max_flight_z_msg.value;
+     549       18662 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     550             : 
+     551             :   // publish diagnostics
+     552       37324 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     553             : 
+     554       18662 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     555       18662 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     556             : 
+     557       18662 :   diagnostics.pose         = uav_state.pose;
+     558       18662 :   diagnostics.velocity     = uav_state.velocity;
+     559       18662 :   diagnostics.acceleration = uav_state.acceleration;
+     560             : 
+     561       18662 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     562       18662 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     563       18662 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     564       18662 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     565       18662 :   diagnostics.running_state_estimators = estimator_names_;
+     566             : 
+     567             :   {
+     568       37324 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     569       18662 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     570             :   }
+     571             : 
+     572             : 
+     573       18662 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     574       18662 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     575       18662 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     576             :   } else {
+     577           0 :     diagnostics.header.frame_id         = "";
+     578           0 :     diagnostics.current_state_estimator = "";
+     579             :   }
+     580             : 
+     581       18662 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     582       18662 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     583       18662 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     584             : 
+     585       18662 :   if (is_using_agl_estimator_) {
+     586       14452 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     587       14452 :     diagnostics.agl_height           = agl_height.value;
+     588             :   } else {
+     589        4210 :     diagnostics.estimator_agl_height = "NOT_USED";
+     590        4210 :     diagnostics.agl_height           = std::nanf("");
+     591             :   }
+     592             : 
+     593       18662 :   diagnostics.platform_config = _platform_config_;
+     594       18662 :   diagnostics.custom_config   = _custom_config_;
+     595             : 
+     596       18662 :   ph_diagnostics_.publish(diagnostics);
+     597             : 
+     598       18662 :   ROS_INFO_THROTTLE(5.0, "[%s]: %s. pos: [%.2f, %.2f, %.2f] m. Estimator: %s. Max. z.: %.2f m. Estimator switches: %d.", getName().c_str(),
+     599             :                     sm_->getCurrentStateString().c_str(), uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z,
+     600             :                     active_estimator_->getName().c_str(), max_flight_z_, estimator_switch_count_);
+     601             : }
+     602             : /*//}*/
+     603             : 
+     604             : /*//{ timerCheckHealth() */
+     605      193915 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     606             : 
+     607      193915 :   if (!sm_->isInitialized()) {
+     608           2 :     return;
+     609             :   }
+     610             : 
+     611      581739 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     612             : 
+     613             :   /*//{ start ready estimators, check switchable estimators */
+     614      387826 :   std::vector<std::string> switchable_estimator_names;
+     615      412152 :   for (auto estimator : estimator_list_) {
+     616             : 
+     617      218239 :     if (estimator->isReady()) {
+     618             :       try {
+     619        7978 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     620        7978 :         estimator->start();
+     621             :       }
+     622           0 :       catch (std::runtime_error& ex) {
+     623           0 :         ROS_ERROR("[%s]: exception caught during estimator starting: '%s'", getName().c_str(), ex.what());
+     624           0 :         ros::shutdown();
+     625             :       }
+     626             :     }
+     627             : 
+     628      218239 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     629      207442 :       switchable_estimator_names.push_back(estimator->getName());
+     630             :     }
+     631             :   }
+     632             : 
+     633             :   {
+     634      387826 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     635      193913 :     switchable_estimator_names_ = switchable_estimator_names;
+     636             :   }
+     637             : 
+     638      193913 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     639         583 :     est_alt_agl_->start();
+     640             :   }
+     641             : 
+     642             :   /*//}*/
+     643             : 
+     644      355694 :   if (!callbacks_disabled_by_service_ &&
+     645      355694 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE))) {
+     646      140064 :     callbacks_enabled_ = true;
+     647             :   } else {
+     648       53849 :     callbacks_enabled_ = false;
+     649             :   }
+     650             : 
+     651             :   // TODO fuj if, zmenit na switch
+     652             :   // activate initial estimator
+     653      193913 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     654       21326 :     std::scoped_lock lock(mutex_active_estimator_);
+     655       10663 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     656       10663 :     active_estimator_ = initial_estimator_;
+     657       10663 :     if (active_estimator_->getName() == "dummy") {
+     658           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     659             :     } else {
+     660       10663 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     661         108 :         sm_->changeState(StateMachine::READY_FOR_FLIGHT_STATE);
+     662             :       } else {
+     663       10555 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(),
+     664             :                           est_alt_agl_->getName().c_str());
+     665             :       }
+     666             :     }
+     667             :   }
+     668             : 
+     669             :   // active estimator is in faulty state, we need to switch to healthy estimator
+     670      193913 :   if (sm_->isInSwitchableState() && active_estimator_->isError()) {
+     671           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     672             :   }
+     673             : 
+     674      193913 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     675           0 :     if (switchToHealthyEstimator()) {
+     676           0 :       sm_->changeToPreSwitchState();
+     677             :     } else {  // cannot switch to healthy estimator - failsafe necessary
+     678           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Cannot switch to any healthy estimator. Triggering failsafe.", getName().c_str());
+     679           0 :       sm_->changeState(StateMachine::FAILSAFE_STATE);
+     680             :     }
+     681             :   }
+     682             : 
+     683      193913 :   if (sm_->isInState(StateMachine::FAILSAFE_STATE)) {
+     684           0 :     if (!failsafe_call_succeeded_ && callFailsafeService()) {
+     685           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: failsafe called successfully", getName().c_str());
+     686           0 :       failsafe_call_succeeded_ = true;
+     687             :     }
+     688           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str());
+     689             :   }
+     690             : 
+     691             :   // standard takeoff
+     692      193913 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     693       42793 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == takeoff_tracker_name_) {
+     694          22 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     695             :     }
+     696             :   }
+     697             : 
+     698             :   // midair activation
+     699      193913 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     700       42771 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == after_midair_activation_tracker_name_) {
+     701          78 :       sm_->changeState(StateMachine::FLYING_STATE);
+     702             :     }
+     703             :   }
+     704             : 
+     705      193913 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     706       10799 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != takeoff_tracker_name_) {
+     707          20 :       sm_->changeState(StateMachine::FLYING_STATE);
+     708             :     }
+     709             :   }
+     710             : 
+     711      193913 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     712      119244 :     if (!sh_control_input_.hasMsg()) {
+     713        4323 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input since starting EstimationManager, estimation suboptimal, potentially unstable", getName().c_str());
+     714      114921 :     } else if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     715       13160 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input for %.4fs, estimation suboptimal, potentially unstable", getName().c_str(),
+     716             :                         (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     717             :     }
+     718             :   }
+     719             : }
+     720             : /*//}*/
+     721             : 
+     722             : /*//{ timerInitialization() */
+     723         108 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     724             : 
+     725         216 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     726             : 
+     727         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     728         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     729         108 :   param_loader.loadParam("world_config", _world_config_);
+     730             : 
+     731         108 :   if (_custom_config_ != "") {
+     732         108 :     param_loader.addYamlFile(_custom_config_);
+     733             :   }
+     734             : 
+     735         108 :   if (_platform_config_ != "") {
+     736         108 :     param_loader.addYamlFile(_platform_config_);
+     737             :   }
+     738             : 
+     739         108 :   if (_world_config_ != "") {
+     740         108 :     param_loader.addYamlFile(_world_config_);
+     741             :   }
+     742             : 
+     743         108 :   param_loader.addYamlFileFromParam("private_config");
+     744         108 :   param_loader.addYamlFileFromParam("public_config");
+     745         108 :   param_loader.addYamlFileFromParam("uav_manager_config");
+     746         108 :   param_loader.addYamlFileFromParam("estimators_config");
+     747         108 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     748             : 
+     749         108 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     750             : 
+     751             :   /*//{ load world_origin parameters */
+     752             : 
+     753         216 :   std::string world_origin_units;
+     754         108 :   bool        is_origin_param_ok = true;
+     755         108 :   double      world_origin_x     = 0;
+     756         108 :   double      world_origin_y     = 0;
+     757             : 
+     758         108 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     759             : 
+     760         108 :   if (Support::toLowercase(world_origin_units) == "utm") {
+     761           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getName().c_str());
+     762           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     763           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     764             : 
+     765         108 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     766             :     double lat, lon;
+     767         108 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     768         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     769         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     770         108 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     771         108 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getName().c_str(), world_origin_x, world_origin_y);
+     772             : 
+     773             :   } else {
+     774           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getName().c_str(), world_origin_units.c_str());
+     775           0 :     ros::shutdown();
+     776             :   }
+     777             : 
+     778         108 :   ch_->world_origin.x = world_origin_x;
+     779         108 :   ch_->world_origin.y = world_origin_y;
+     780             : 
+     781         108 :   if (!is_origin_param_ok) {
+     782           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getName().c_str());
+     783           0 :     ros::shutdown();
+     784             :   }
+     785             :   /*//}*/
+     786             : 
+     787             :   /*//{ load tracker names */
+     788         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/during_takeoff/tracker", takeoff_tracker_name_);
+     789         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/midair_activation/after_activation/tracker", after_midair_activation_tracker_name_);
+     790             :   /*//}*/
+     791             : 
+     792         108 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     793             : 
+     794             :   /*//{ load parameters into common handlers */
+     795         108 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     796         108 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     797             : 
+     798         108 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     799         108 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     800             : 
+     801         108 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     802         108 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     803             : 
+     804         108 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     805         108 :   ch_->transformer->retryLookupNewest(true);
+     806             : 
+     807         108 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     808             : 
+     809             :   /*//}*/
+     810             : 
+     811             :   /*//{ load parameters */
+     812             : 
+     813             :   /*//{ publish debug topics parameters */
+     814         108 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     815         108 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     816         108 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     817         108 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     818         108 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     819         108 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     820         108 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     821         108 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     822             :   /*//}*/
+     823             : 
+     824             :   /*//}*/
+     825             : 
+     826         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     827         108 :   shopts.nh                 = nh_;
+     828         108 :   shopts.node_name          = getName();
+     829         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     830         108 :   shopts.threadsafe         = true;
+     831         108 :   shopts.autostart          = true;
+     832         108 :   shopts.queue_size         = 10;
+     833         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     834             : 
+     835             :   /*//{ wait for hw api message */
+     836             : 
+     837             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_ =
+     838         324 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     839         219 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     840         111 :     ROS_INFO("[%s]: %s hw_api_capabilities message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     841             :              sh_hw_api_capabilities_.topicName().c_str());
+     842         111 :     ros::Duration(1.0).sleep();
+     843             :   }
+     844             : 
+     845         216 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     846             :   /*//}*/
+     847             : 
+     848             :   /*//{ wait for desired uav_state rate */
+     849         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     850         226 :   while (!sh_control_manager_diag_.hasMsg()) {
+     851         118 :     ROS_INFO("[%s]: %s control_manager_diagnostics message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     852             :              sh_control_manager_diag_.topicName().c_str());
+     853         118 :     ros::Duration(1.0).sleep();
+     854             :   }
+     855             : 
+     856         216 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     857         108 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     858         108 :   ROS_INFO("[%s]: The estimation is running at: %.2f Hz", getName().c_str(), ch_->desired_uav_state_rate);
+     859             :   /*//}*/
+     860             : 
+     861             :   /*//{ initialize subscribers */
+     862             : 
+     863         108 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     864             : 
+     865             :   /*//}*/
+     866             : 
+     867             :   /*//{ load state estimator plugins */
+     868         108 :   param_loader.loadParam("state_estimators", estimator_names_);
+     869             : 
+     870         108 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     871             : 
+     872         224 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     873             : 
+     874         232 :     const std::string estimator_name = estimator_names_[i];
+     875             : 
+     876             :     // load the estimator parameters
+     877         232 :     std::string address;
+     878         116 :     param_loader.loadParam(estimator_name + "/address", address);
+     879             : 
+     880             :     try {
+     881         116 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     882         116 :       estimator_list_.push_back(state_estimator_loader_->createInstance(address.c_str()));
+     883             :     }
+     884           0 :     catch (pluginlib::CreateClassException& ex1) {
+     885           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     886           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     887           0 :       ros::shutdown();
+     888             :     }
+     889           0 :     catch (pluginlib::PluginlibException& ex) {
+     890           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     891           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     892           0 :       ros::shutdown();
+     893             :     }
+     894             :   }
+     895             : 
+     896             :   /*//{ load agl estimator plugins */
+     897         108 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     898         108 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     899         108 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     900             : 
+     901             : 
+     902         108 :   if (is_using_agl_estimator_) {
+     903             : 
+     904          87 :     agl_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>>("mrs_uav_managers", "mrs_uav_managers::AglEstimator");
+     905             : 
+     906             :     // load the estimator parameters
+     907         174 :     std::string address;
+     908          87 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     909             : 
+     910             :     try {
+     911          87 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     912          87 :       est_alt_agl_ = agl_estimator_loader_->createInstance(address.c_str());
+     913             :     }
+     914           0 :     catch (pluginlib::CreateClassException& ex1) {
+     915           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     916           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     917           0 :       ros::shutdown();
+     918             :     }
+     919           0 :     catch (pluginlib::PluginlibException& ex) {
+     920           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     921           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     922           0 :       ros::shutdown();
+     923             :     }
+     924             :   }
+     925             :   /*//}*/
+     926             : 
+     927         108 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     928             :   /*//}*/
+     929             : 
+     930             :   /*//{ check whether initial estimator was loaded */
+     931         108 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     932         108 :   bool initial_estimator_found = false;
+     933         108 :   for (auto estimator : estimator_list_) {
+     934         108 :     if (estimator->getName() == initial_estimator_name_) {
+     935         108 :       initial_estimator_      = estimator;
+     936         108 :       initial_estimator_found = true;
+     937         108 :       break;
+     938             :     }
+     939             :   }
+     940             : 
+     941         108 :   if (!initial_estimator_found) {
+     942           0 :     ROS_ERROR("[%s]: initial estimator %s could not be found among loaded estimators. shutting down", getName().c_str(), initial_estimator_name_.c_str());
+     943           0 :     ros::shutdown();
+     944             :   }
+     945             :   /*//}*/
+     946             : 
+     947             :   /*//{ initialize estimators */
+     948         224 :   for (auto estimator : estimator_list_) {
+     949             : 
+     950             :     // create private handlers
+     951         232 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     952             : 
+     953         116 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     954         116 :     ph->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     955             : 
+     956         116 :     if (_custom_config_ != "") {
+     957         116 :       ph->param_loader->addYamlFile(_custom_config_);
+     958             :     }
+     959             : 
+     960         116 :     if (_platform_config_ != "") {
+     961         116 :       ph->param_loader->addYamlFile(_platform_config_);
+     962             :     }
+     963             : 
+     964         116 :     if (_world_config_ != "") {
+     965         116 :       ph->param_loader->addYamlFile(_world_config_);
+     966             :     }
+     967             : 
+     968             :     try {
+     969         116 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     970         116 :       estimator->initialize(nh_, ch_, ph);
+     971             :     }
+     972           0 :     catch (std::runtime_error& ex) {
+     973           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     974           0 :       ros::shutdown();
+     975             :     }
+     976             : 
+     977         116 :     if (!estimator->isCompatibleWithHwApi(hw_api_capabilities)) {
+     978           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), estimator->getName().c_str());
+     979           0 :       ros::shutdown();
+     980             :     }
+     981             :   }
+     982             : 
+     983             :   // | ----------- agl height estimator initialization ---------- |
+     984         108 :   if (is_using_agl_estimator_) {
+     985             : 
+     986         174 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     987             : 
+     988          87 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     989          87 :     ph->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     990             : 
+     991          87 :     if (_custom_config_ != "") {
+     992          87 :       ph->param_loader->addYamlFile(_custom_config_);
+     993             :     }
+     994             : 
+     995          87 :     if (_platform_config_ != "") {
+     996          87 :       ph->param_loader->addYamlFile(_platform_config_);
+     997             :     }
+     998             : 
+     999          87 :     if (_world_config_ != "") {
+    1000          87 :       ph->param_loader->addYamlFile(_world_config_);
+    1001             :     }
+    1002             : 
+    1003             :     try {
+    1004          87 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+    1005          87 :       est_alt_agl_->initialize(nh_, ch_, ph);
+    1006             :     }
+    1007           0 :     catch (std::runtime_error& ex) {
+    1008           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+    1009           0 :       ros::shutdown();
+    1010             :     }
+    1011             : 
+    1012          87 :     if (!est_alt_agl_->isCompatibleWithHwApi(hw_api_capabilities)) {
+    1013           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), est_alt_agl_->getName().c_str());
+    1014           0 :       ros::shutdown();
+    1015             :     }
+    1016             :   }
+    1017             : 
+    1018         108 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+    1019             : 
+    1020             :   /*//}*/
+    1021             : 
+    1022             :   /*//{ initialize publishers */
+    1023         108 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+    1024         108 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+    1025         108 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+    1026         108 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+    1027         108 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1028         108 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1029             : 
+    1030             :   /*//}*/
+    1031             : 
+    1032             :   /*//{ initialize timers */
+    1033         108 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1034             : 
+    1035         108 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1036             : 
+    1037         108 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1038             :   /*//}*/
+    1039             : 
+    1040             :   /*//{ initialize service clients */
+    1041             : 
+    1042         108 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1043             : 
+    1044             :   /*//}*/
+    1045             : 
+    1046             :   /*//{ initialize service servers */
+    1047         108 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1048         108 :   srvs_reset_estimator_ = nh_.advertiseService("reset_estimator_in", &EstimationManager::callbackResetEstimator, this);
+    1049         108 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1050             :   /*//}*/
+    1051             : 
+    1052             :   /*//{ initialize scope timer */
+    1053         108 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1054         216 :   std::string       filepath;
+    1055         216 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1056         108 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1057             :   /*//}*/
+    1058             : 
+    1059         108 :   if (!param_loader.loadedSuccessfully()) {
+    1060           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getName().c_str());
+    1061           0 :     ros::shutdown();
+    1062             :   }
+    1063             : 
+    1064         108 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1065             : 
+    1066         108 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1067         108 : }
+    1068             : /*//}*/
+    1069             : 
+    1070             : // | -------------------- service callbacks ------------------- |
+    1071             : 
+    1072             : /*//{ callbackChangeEstimator() */
+    1073           5 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1074             : 
+    1075           5 :   if (!sm_->isInitialized()) {
+    1076           0 :     return false;
+    1077             :   }
+    1078             : 
+    1079             :   // enable switching out from vins_kickoff estimator during takeoff
+    1080           5 :   if (!callbacks_enabled_ && active_estimator_->getName() != "vins_kickoff") {
+    1081           0 :     res.success = false;
+    1082           0 :     res.message = ("Service callbacks are disabled");
+    1083           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1084           0 :     return true;
+    1085             :   }
+    1086             : 
+    1087             :   // switching into these estimators during flight is dangerous with realhw, so we don't allow it 
+    1088           5 :   if (req.value == "dummy" || req.value == "ground_truth" || req.value == "vins_kickoff") {
+    1089           0 :     res.success = false;
+    1090           0 :     std::stringstream ss;
+    1091           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1092           0 :     res.message = ss.str();
+    1093           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1094           0 :     return true;
+    1095             :   }
+    1096             : 
+    1097             :   // we do not want the switch to be disturbed by a service call
+    1098           5 :   callbacks_enabled_ = false;
+    1099             : 
+    1100           5 :   bool                                                target_estimator_found = false;
+    1101           5 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1102          12 :   for (auto estimator : estimator_list_) {
+    1103          12 :     if (estimator->getName() == req.value) {
+    1104           5 :       target_estimator       = estimator;
+    1105           5 :       target_estimator_found = true;
+    1106           5 :       break;
+    1107             :     }
+    1108             :   }
+    1109             : 
+    1110           5 :   if (target_estimator_found) {
+    1111             : 
+    1112           5 :     if (target_estimator->isRunning()) {
+    1113           5 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1114           5 :       switchToEstimator(target_estimator);
+    1115           5 :       sm_->changeToPreSwitchState();
+    1116             :     } else {
+    1117           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1118           0 :       res.success = false;
+    1119           0 :       res.message = ("Requested estimator is not running");
+    1120           0 :       return true;
+    1121             :     }
+    1122             : 
+    1123             :   } else {
+    1124           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1125           0 :     res.success = false;
+    1126           0 :     res.message = ("Not a valid estimator type");
+    1127           0 :     return true;
+    1128             :   }
+    1129             : 
+    1130           5 :   res.success = true;
+    1131           5 :   res.message = "Estimator switch successful";
+    1132             : 
+    1133             :   // allow service calllbacks after switch again
+    1134           5 :   callbacks_enabled_ = true;
+    1135             : 
+    1136           5 :   return true;
+    1137             : }
+    1138             : /*//}*/
+    1139             : 
+    1140             : /*//{ callbackResetEstimator() */
+    1141           0 : bool EstimationManager::callbackResetEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1142             : 
+    1143           0 :   if (!sm_->isInitialized()) {
+    1144           0 :     return false;
+    1145             :   }
+    1146             : 
+    1147           0 :   if (!callbacks_enabled_) {
+    1148           0 :     res.success = false;
+    1149           0 :     res.message = ("Service callbacks are disabled");
+    1150           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1151           0 :     return true;
+    1152             :   }
+    1153             : 
+    1154             : 
+    1155           0 :   bool                                                target_estimator_found = false;
+    1156           0 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1157           0 :   for (auto estimator : estimator_list_) {
+    1158           0 :     if (estimator->getName() == req.value) {
+    1159           0 :       target_estimator       = estimator;
+    1160           0 :       target_estimator_found = true;
+    1161           0 :       break;
+    1162             :     }
+    1163             :   }
+    1164             : 
+    1165           0 :   if (target_estimator_found) {
+    1166             : 
+    1167             : 
+    1168           0 :     if (target_estimator->getName() == active_estimator_->getName()) {
+    1169           0 :       res.success = false;
+    1170           0 :       res.message = ("Cannot reset active estimator");
+    1171           0 :       ROS_WARN("[%s]: Ignoring service call. Cannot reset active estimator.", getName().c_str());
+    1172           0 :       return true;
+    1173             :     }
+    1174             : 
+    1175           0 :       target_estimator->reset();
+    1176           0 :       ROS_INFO("[EstimationManager]: Estimator %s reset", target_estimator->getName().c_str());
+    1177             : 
+    1178           0 :       double t_wait_left = 5;
+    1179           0 :       while (t_wait_left > 0) {
+    1180           0 :         ROS_INFO("[EstimationManager]: Attempting starting %s estimator", target_estimator->getName().c_str());
+    1181           0 :         target_estimator->start();
+    1182             : 
+    1183           0 :         if (target_estimator->isRunning()) {
+    1184           0 :           ROS_INFO("[EstimationManager]: Reset of %s estimator successful", target_estimator->getName().c_str());
+    1185           0 :           break;
+    1186             :         } 
+    1187             :         
+    1188           0 :         const double start_period = 1.0;
+    1189           0 :         ros::Duration(start_period).sleep();
+    1190           0 :         t_wait_left -= start_period;
+    1191             : 
+    1192             :       }
+    1193             : 
+    1194             :   } else {
+    1195           0 :     ROS_WARN("[%s]: Reset of invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1196           0 :     res.success = false;
+    1197           0 :     res.message = ("Not a valid estimator type");
+    1198           0 :     return true;
+    1199             :   }
+    1200             : 
+    1201           0 :   res.success = true;
+    1202           0 :   res.message = "Estimator reset successful";
+    1203             : 
+    1204           0 :   return true;
+    1205             : }
+    1206             : /*//}*/
+    1207             : 
+    1208             : /* //{ callbackToggleServiceCallbacks() */
+    1209         142 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1210             : 
+    1211         142 :   if (!sm_->isInitialized()) {
+    1212           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1213           0 :     return false;
+    1214             :   }
+    1215             : 
+    1216         142 :   callbacks_disabled_by_service_ = !req.data;
+    1217             : 
+    1218         142 :   res.success = true;
+    1219         142 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1220             : 
+    1221         142 :   if (callbacks_disabled_by_service_) {
+    1222             : 
+    1223          42 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1224             : 
+    1225             :   } else {
+    1226             : 
+    1227         100 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1228             :   }
+    1229             : 
+    1230         142 :   return true;
+    1231             : }
+    1232             : 
+    1233             : //}
+    1234             : 
+    1235             : 
+    1236             : // --------------------------------------------------------------
+    1237             : // |                        other methods                       |
+    1238             : // --------------------------------------------------------------
+    1239             : //
+    1240             : /*//{ switchToHealthyEstimator() */
+    1241           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1242             : 
+    1243             :   // available estimators should be specified in decreasing priority order in config file
+    1244           0 :   for (auto estimator : estimator_list_) {
+    1245           0 :     if (estimator->isRunning()) {
+    1246           0 :       switchToEstimator(estimator);
+    1247           0 :       return true;
+    1248             :     }
+    1249             :   }
+    1250           0 :   return false;  // no other estimator is running
+    1251             : }
+    1252             : /*//}*/
+    1253             : 
+    1254             : /*//{ switchToEstimator() */
+    1255           5 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1256             : 
+    1257           5 :   std::scoped_lock lock(mutex_active_estimator_);
+    1258           5 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1259           5 :   active_estimator_ = target_estimator;
+    1260           5 :   estimator_switch_count_++;
+    1261           5 : }
+    1262             : /*//}*/
+    1263             : 
+    1264             : /*//{ callFailsafeService() */
+    1265           0 : bool EstimationManager::callFailsafeService() {
+    1266           0 :   std_srvs::Trigger srv_out;
+    1267           0 :   return srvch_failsafe_.call(srv_out);
+    1268             : }
+    1269             : /*//}*/
+    1270             : 
+    1271             : /*//{ getName() */
+    1272        3584 : std::string EstimationManager::getName() const {
+    1273        3584 :   return nodelet_name_;
+    1274             : }
+    1275             : /*//}*/
+    1276             : 
+    1277             : /* loadConfigFile() //{ */
+    1278             : 
+    1279           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1280             : 
+    1281           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1282             : 
+    1283           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1284             : 
+    1285             :   // load the user-requested file
+    1286             :   {
+    1287           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1288           0 :     int         result  = std::system(command.c_str());
+    1289             : 
+    1290           0 :     if (result != 0) {
+    1291           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1292           0 :       return false;
+    1293             :     }
+    1294             :   }
+    1295             : 
+    1296             :   // load the platform config
+    1297           0 :   if (_platform_config_ != "") {
+    1298           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1299           0 :     int         result  = std::system(command.c_str());
+    1300             : 
+    1301           0 :     if (result != 0) {
+    1302           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1303           0 :       return false;
+    1304             :     }
+    1305             :   }
+    1306             : 
+    1307             :   // load the custom config
+    1308           0 :   if (_custom_config_ != "") {
+    1309           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1310           0 :     int         result  = std::system(command.c_str());
+    1311             : 
+    1312           0 :     if (result != 0) {
+    1313           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1314           0 :       return false;
+    1315             :     }
+    1316             :   }
+    1317             : 
+    1318           0 :   return true;
+    1319             : }
+    1320             : 
+    1321             : //}
+    1322             : 
+    1323             : }  // namespace estimation_manager
+    1324             : 
+    1325             : }  // namespace mrs_uav_managers
+    1326             : 
+    1327             : #include <pluginlib/class_list_macros.h>
+    1328         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
+ + + + +
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:638871.6 %
Date:2024-10-08 22:31:24Functions: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)2540
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2540
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2540
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3777
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5080
mrs_uav_managers::Estimator::getMaxFlightZ() const19094
mrs_uav_managers::Estimator::isStarted() const39663
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)326925
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)327220
mrs_uav_managers::Estimator::isReady() const380473
mrs_uav_managers::Estimator::getName[abi:cxx11]() const662059
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const779962
mrs_uav_managers::Estimator::isMitigatingJump()791964
mrs_uav_managers::Estimator::publishDiagnostics() const1105827
mrs_uav_managers::Estimator::isError() const1442822
mrs_uav_managers::Estimator::isRunning() const1807700
mrs_uav_managers::Estimator::isInitialized() const2863747
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8487807
mrs_uav_managers::Estimator::getCurrentSmState() const9309341
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html new file mode 100644 index 0000000000..83fd5db1e3 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp - functions + + + + + + + + + + + + + + +
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:638871.6 %
Date:2024-10-08 22:31:24Functions: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)2540
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)326925
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)327220
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::isMitigatingJump()791964
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2540
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const779962
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3777
mrs_uav_managers::Estimator::getMaxFlightZ() const19094
mrs_uav_managers::Estimator::isInitialized() const2863747
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5080
mrs_uav_managers::Estimator::getCurrentSmState() const9309341
mrs_uav_managers::Estimator::publishDiagnostics() const1105827
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2540
mrs_uav_managers::Estimator::getName[abi:cxx11]() const662059
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const1442822
mrs_uav_managers::Estimator::isReady() const380473
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8487807
mrs_uav_managers::Estimator::isRunning() const1807700
mrs_uav_managers::Estimator::isStarted() const39663
mrs_uav_managers::Estimator::isStopped() const0
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Generated by: LCOV version 1.14
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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:638871.6 %
Date:2024-10-08 22:31:24Functions: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        2540 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        2540 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        2540 :   previous_sm_state_ = getCurrentSmState();
+      15        2540 :   setCurrentSmState(new_state);
+      16             : 
+      17        2540 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        2540 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     8487807 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     8487807 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     2863747 : bool Estimator::isInitialized() const {
+      30     2863747 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      380473 : bool Estimator::isReady() const {
+      36      380473 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       39663 : bool Estimator::isStarted() const {
+      42       39663 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1807700 : bool Estimator::isRunning() const {
+      48     1807700 :   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     1442822 : bool Estimator::isError() const {
+      60     1442822 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     9309341 : SMStates_t Estimator::getCurrentSmState() const {
+      66     9309341 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        2540 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        2540 :   std::scoped_lock lock(mutex_current_state_);
+      73        2540 :   current_sm_state_ = new_state;
+      74        2540 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        5080 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        5080 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        2540 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        5080 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      791964 : bool Estimator::isMitigatingJump(void) {
+      91      791964 :   if (is_mitigating_jump_) {
+      92           1 :     is_mitigating_jump_ = false;
+      93           0 :     return true;
+      94             :   } else {
+      95      791945 :     return false;
+      96             :   }
+      97             : }
+      98             : /*//}*/
+      99             : 
+     100             : /*//{ getName() */
+     101      662059 : std::string Estimator::getName(void) const {
+     102      662059 :   return name_;
+     103             : }
+     104             : /*//}*/
+     105             : 
+     106             : /*//{ getPrintName() */
+     107        3777 : std::string Estimator::getPrintName(void) const {
+     108        7553 :   return ch_->nodelet_name + "/" + name_;
+     109             : }
+     110             : /*//}*/
+     111             : 
+     112             : /*//{ getType() */
+     113           0 : std::string Estimator::getType(void) const {
+     114           0 :   return type_;
+     115             : }
+     116             : /*//}*/
+     117             : 
+     118             : /*//{ getFrameId() */
+     119      779962 : std::string Estimator::getFrameId(void) const {
+     120      779962 :   return ns_frame_id_;
+     121             : }
+     122             : /*//}*/
+     123             : 
+     124             : /*//{ getMaxFlightZ() */
+     125       19094 : double Estimator::getMaxFlightZ(void) const {
+     126       19094 :   return max_flight_z_;
+     127             : }
+     128             : /*//}*/
+     129             : 
+     130             : /*//{ publishDiagnostics() */
+     131     1105827 : void Estimator::publishDiagnostics() const {
+     132             : 
+     133     1105827 :   if (!ch_->debug_topics.diag) {
+     134     1105801 :     return;
+     135             :   }
+     136             : 
+     137           0 :   mrs_msgs::EstimatorDiagnostics msg;
+     138           0 :   msg.header.stamp       = ros::Time::now();
+     139           0 :   msg.header.frame_id    = getFrameId();
+     140           0 :   msg.estimator_name     = getName();
+     141           0 :   msg.estimator_type     = getType();
+     142           0 :   msg.estimator_sm_state = getCurrentSmStateString();
+     143             : 
+     144           0 :   ph_diagnostics_.publish(msg);
+     145             : }
+     146             : /*//}*/
+     147             : 
+     148             : /*//{ getAccGlobal() */
+     149           0 : tf2::Vector3 Estimator::getAccGlobal(const sensor_msgs::Imu::ConstPtr& input_msg, const double hdg) {
+     150             : 
+     151           0 :   geometry_msgs::Vector3Stamped acc_stamped;
+     152           0 :   acc_stamped.vector = input_msg->linear_acceleration;
+     153           0 :   acc_stamped.header = input_msg->header;
+     154           0 :   return getAccGlobal(acc_stamped, hdg);
+     155             : }
+     156             : 
+     157      327220 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     158             : 
+     159      651826 :   geometry_msgs::Vector3Stamped acc_stamped;
+     160      326955 :   acc_stamped.vector = input_msg->control_acceleration;
+     161      326760 :   acc_stamped.header = input_msg->header;
+     162      647600 :   return getAccGlobal(acc_stamped, hdg);
+     163             : }
+     164             : 
+     165      326925 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     166             : 
+     167             :   // untilt the desired acceleration vector
+     168      651106 :   geometry_msgs::Vector3Stamped des_acc;
+     169      326800 :   geometry_msgs::Vector3        des_acc_untilted;
+     170      326999 :   des_acc.vector.x        = acc_stamped.vector.x;
+     171      326999 :   des_acc.vector.y        = acc_stamped.vector.y;
+     172      326999 :   des_acc.vector.z        = acc_stamped.vector.z;
+     173      326999 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     174      327012 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     175      653545 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     176      327270 :   if (response_acc) {
+     177      327270 :     des_acc_untilted.x = response_acc.value().vector.x;
+     178      327269 :     des_acc_untilted.y = response_acc.value().vector.y;
+     179      327270 :     des_acc_untilted.z = response_acc.value().vector.z;
+     180             :   } else {
+     181           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), des_acc.header.frame_id.c_str(),
+     182             :                       ch_->frames.ns_fcu_untilted.c_str());
+     183             :   }
+     184             : 
+     185             :   // rotate the desired acceleration vector to global frame
+     186      327270 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     187             : 
+     188      647586 :   return des_acc_global;
+     189             : }
+     190             : /*//}*/
+     191             : 
+     192             : /*//{ getHeadingRate() */
+     193           0 : std::optional<double> Estimator::getHeadingRate(const nav_msgs::OdometryConstPtr& odom_msg) {
+     194             : 
+     195             :   double hdg_rate;
+     196             :   try {
+     197           0 :     hdg_rate = mrs_lib::AttitudeConverter(odom_msg->pose.pose.orientation).getHeadingRate(odom_msg->twist.twist.angular);
+     198             :   }
+     199           0 :   catch (...) {
+     200           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading rate", getPrintName().c_str());
+     201           0 :     return {};
+     202             :   }
+     203           0 :   return hdg_rate;
+     204             : }
+     205             : /*//}*/
+     206             : 
+     207             : 
+     208             : /*//}*/
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const87
mrs_uav_managers::AglEstimator::publishAglHeight() const155227
mrs_uav_managers::AglEstimator::publishCovariance() const155227
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mrs_uav_managers::AglEstimator::publishAglHeight() const155227
mrs_uav_managers::AglEstimator::publishCovariance() const155227
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const87
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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      155227 : void AglEstimator::publishAglHeight() const {
+       8      155227 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9      155227 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13      155227 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15      155227 :   if (!ch_->debug_topics.covariance) {
+      16      155227 :     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          87 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          87 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          87 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          87 :   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          87 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          87 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          87 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          87 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          87 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          87 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          87 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          87 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          87 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   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          87 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
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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&) const116
mrs_uav_managers::StateEstimator::getInnovation() const172624
mrs_uav_managers::StateEstimator::getPoseCovariance() const172624
mrs_uav_managers::StateEstimator::getTwistCovariance() const172624
mrs_uav_managers::StateEstimator::getUavState()191276
mrs_uav_managers::StateEstimator::publishOdom() const207961
mrs_uav_managers::StateEstimator::publishUavState() const207961
mrs_uav_managers::StateEstimator::publishCovariance() const207961
mrs_uav_managers::StateEstimator::publishInnovation() const207961
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const420650
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()191276
mrs_uav_managers::StateEstimator::publishOdom() const207961
mrs_uav_managers::StateEstimator::getInnovation() const172624
mrs_uav_managers::StateEstimator::publishUavState() const207961
mrs_uav_managers::StateEstimator::getPoseCovariance() const172624
mrs_uav_managers::StateEstimator::publishCovariance() const207961
mrs_uav_managers::StateEstimator::publishInnovation() const207961
mrs_uav_managers::StateEstimator::getTwistCovariance() const172624
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const116
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const420650
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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      191276 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      191276 :   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      382516 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      172624 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      172624 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      172624 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      172624 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      172624 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      172624 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      207961 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      207961 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      415911 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      207950 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      207961 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      415922 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      207961 :   ph_odom_.publish(odom);
+      54      207961 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      207961 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      207961 :   if (!ch_->debug_topics.covariance) {
+      61      207961 :     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      207961 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      207961 :   if (!ch_->debug_topics.innovation) {
+      75      207961 :     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      420650 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      420650 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      420233 :     double q_hdg = 0;
+      91      420233 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      419316 :     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      418626 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      417118 :     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         116 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110         116 :   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         116 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116         116 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117         116 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118         116 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119         116 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120         116 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121         116 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122         116 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123         116 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   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         116 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)2
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::gain_manager::GainManager::onInit()108
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)109
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)2366
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&)2384
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24204
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22425886.8 %
Date:2024-10-08 22:31:24Functions:77100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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&)2384
mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)2
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)2366
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24204
mrs_uav_managers::gain_manager::GainManager::onInit()108
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)109
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:77100.0 %
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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/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             : 
+      56             :   std::atomic<bool> is_initialized_ = false;
+      57             : 
+      58             :   // | ----------------------- parameters ----------------------- |
+      59             : 
+      60             :   std::vector<std::string> _current_state_estimators_;
+      61             : 
+      62             :   std::vector<std::string>       _gain_names_;
+      63             :   std::map<std::string, Gains_t> _gains_;
+      64             : 
+      65             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_gains_;
+      66             :   std::map<std::string, std::string>              _map_type_default_gains_;
+      67             :   ;
+      68             : 
+      69             :   // | --------------------- service clients -------------------- |
+      70             : 
+      71             :   ros::ServiceClient service_client_set_gains_;
+      72             : 
+      73             :   // | ----------------------- subscribers ---------------------- |
+      74             : 
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      76             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      77             : 
+      78             :   // | --------------------- gain management -------------------- |
+      79             : 
+      80             :   bool setGains(std::string gains_name);
+      81             : 
+      82             :   ros::ServiceServer service_server_set_gains_;
+      83             :   bool               callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      84             : 
+      85             :   std::string last_estimator_name_;
+      86             :   std::mutex  mutex_last_estimator_name_;
+      87             : 
+      88             :   void       timerGainManagement(const ros::TimerEvent& event);
+      89             :   ros::Timer timer_gain_management_;
+      90             :   double     _gain_management_rate_;
+      91             : 
+      92             :   std::string current_gains_;
+      93             :   std::mutex  mutex_current_gains_;
+      94             : 
+      95             :   // | ------------------ diagnostics publisher ----------------- |
+      96             : 
+      97             :   mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics> ph_diagnostics_;
+      98             : 
+      99             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     100             :   ros::Timer timer_diagnostics_;
+     101             :   double     _diagnostics_rate_;
+     102             : 
+     103             :   // | ------------------------ profiler ------------------------ |
+     104             : 
+     105             :   mrs_lib::Profiler profiler_;
+     106             :   bool              _profiler_enabled_ = false;
+     107             : 
+     108             :   // | ------------------- scope timer logger ------------------- |
+     109             : 
+     110             :   bool                                       scope_timer_enabled_ = false;
+     111             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     112             : 
+     113             :   // | ------------------------- helpers ------------------------ |
+     114             : 
+     115             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     116             : };
+     117             : 
+     118             : //}
+     119             : 
+     120             : /* //{ onInit() */
+     121             : 
+     122         108 : void GainManager::onInit() {
+     123             : 
+     124         216 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     125             : 
+     126         108 :   ros::Time::waitForValid();
+     127             : 
+     128         108 :   ROS_INFO("[GainManager]: initializing");
+     129             : 
+     130             :   // | ------------------------- params ------------------------- |
+     131             : 
+     132         216 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     133             : 
+     134         216 :   std::string custom_config_path;
+     135         216 :   std::string platform_config_path;
+     136             : 
+     137         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     138         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     139             : 
+     140         108 :   if (custom_config_path != "") {
+     141         108 :     param_loader.addYamlFile(custom_config_path);
+     142             :   }
+     143             : 
+     144         108 :   if (platform_config_path != "") {
+     145         108 :     param_loader.addYamlFile(platform_config_path);
+     146             :   }
+     147             : 
+     148         108 :   param_loader.addYamlFileFromParam("private_config");
+     149         108 :   param_loader.addYamlFileFromParam("public_config");
+     150         108 :   param_loader.addYamlFileFromParam("public_gains");
+     151             : 
+     152         216 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     153             : 
+     154             :   // params passed from the launch file are not prefixed
+     155         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     156             : 
+     157         108 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     158             : 
+     159         108 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     160             : 
+     161         108 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     162         108 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     163             : 
+     164             :   // | ------------------- scope timer logger ------------------- |
+     165             : 
+     166         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     167         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     168         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     169             : 
+     170         108 :   std::vector<std::string>::iterator it;
+     171             : 
+     172             :   // loading gain_names
+     173         324 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     174             : 
+     175         216 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     176             : 
+     177         216 :     Gains_t new_gains;
+     178             : 
+     179         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     180         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     181         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     182         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     183         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     184         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     185         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     186             : 
+     187         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     188         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     189         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     190             : 
+     191         216 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     192         216 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     193             : 
+     194         216 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     195         216 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     196             : 
+     197         216 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     198             :   }
+     199             : 
+     200             :   // loading the allowed gains lists
+     201         864 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     202             : 
+     203         756 :     std::vector<std::string> temp_vector;
+     204         756 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     205             : 
+     206         756 :     std::vector<std::string>::iterator it2;
+     207        2268 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     208        1512 :       if (!stringInVector(*it2, _gain_names_)) {
+     209           0 :         ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", it2->c_str(), it->c_str());
+     210           0 :         ros::shutdown();
+     211             :       }
+     212             :     }
+     213             : 
+     214         756 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     215             :   }
+     216             : 
+     217             :   // loading the default gains
+     218         864 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     219             : 
+     220         756 :     std::string temp_str;
+     221         756 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     222             : 
+     223         756 :     if (!stringInVector(temp_str, _map_type_allowed_gains_.at(*it))) {
+     224           0 :       ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", temp_str.c_str(), it->c_str());
+     225           0 :       ros::shutdown();
+     226             :     }
+     227             : 
+     228         756 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     229             :   }
+     230             : 
+     231         108 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     232             : 
+     233         108 :   current_gains_       = "";
+     234         108 :   last_estimator_name_ = "";
+     235             : 
+     236             :   // | ------------------------ services ------------------------ |
+     237             : 
+     238         108 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     239             : 
+     240         108 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     241             : 
+     242             :   // | ----------------------- subscribers ---------------------- |
+     243             : 
+     244         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     245         108 :   shopts.nh                 = nh_;
+     246         108 :   shopts.node_name          = "GainManager";
+     247         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     248         108 :   shopts.threadsafe         = true;
+     249         108 :   shopts.autostart          = true;
+     250         108 :   shopts.queue_size         = 10;
+     251         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     252             : 
+     253         108 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     254         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     255             : 
+     256             :   // | ----------------------- publishers ----------------------- |
+     257             : 
+     258         108 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     259             : 
+     260             :   // | ------------------------- timers ------------------------- |
+     261             : 
+     262         108 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     263         108 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     264             : 
+     265             :   // | ------------------------ profiler ------------------------ |
+     266             : 
+     267         108 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     268             : 
+     269             :   // | ----------------------- finish init ---------------------- |
+     270             : 
+     271         108 :   if (!param_loader.loadedSuccessfully()) {
+     272           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     273           0 :     ros::shutdown();
+     274             :   }
+     275             : 
+     276         108 :   is_initialized_ = true;
+     277             : 
+     278         108 :   ROS_INFO("[GainManager]: initialized");
+     279             : 
+     280         108 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     281         108 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : // --------------------------------------------------------------
+     286             : // |                           methods                          |
+     287             : // --------------------------------------------------------------
+     288             : 
+     289             : /* setGains() //{ */
+     290             : 
+     291         109 : bool GainManager::setGains(std::string gains_name) {
+     292             : 
+     293         109 :   std::map<std::string, Gains_t>::iterator it;
+     294         109 :   it = _gains_.find(gains_name);
+     295             : 
+     296         109 :   if (it == _gains_.end()) {
+     297           0 :     ROS_WARN("[GainManager]: can not set gains for '%s', the mode is not on a list!", gains_name.c_str());
+     298           0 :     return false;
+     299             :   }
+     300             : 
+     301         218 :   dynamic_reconfigure::Config          conf;
+     302         218 :   dynamic_reconfigure::DoubleParameter param;
+     303             : 
+     304         109 :   param.name  = "kpxy";
+     305         109 :   param.value = it->second.kpxy;
+     306         109 :   conf.doubles.push_back(param);
+     307             : 
+     308         109 :   param.name  = "kvxy";
+     309         109 :   param.value = it->second.kvxy;
+     310         109 :   conf.doubles.push_back(param);
+     311             : 
+     312         109 :   param.name  = "kaxy";
+     313         109 :   param.value = it->second.kaxy;
+     314         109 :   conf.doubles.push_back(param);
+     315             : 
+     316         109 :   param.name  = "kq_roll_pitch";
+     317         109 :   param.value = it->second.kqrp;
+     318         109 :   conf.doubles.push_back(param);
+     319             : 
+     320         109 :   param.name  = "kibxy";
+     321         109 :   param.value = it->second.kibxy;
+     322         109 :   conf.doubles.push_back(param);
+     323             : 
+     324         109 :   param.name  = "kiwxy";
+     325         109 :   param.value = it->second.kiwxy;
+     326         109 :   conf.doubles.push_back(param);
+     327             : 
+     328         109 :   param.name  = "kibxy_lim";
+     329         109 :   param.value = it->second.kibxy_lim;
+     330         109 :   conf.doubles.push_back(param);
+     331             : 
+     332         109 :   param.name  = "kiwxy_lim";
+     333         109 :   param.value = it->second.kiwxy_lim;
+     334         109 :   conf.doubles.push_back(param);
+     335             : 
+     336         109 :   param.name  = "kpz";
+     337         109 :   param.value = it->second.kpz;
+     338         109 :   conf.doubles.push_back(param);
+     339             : 
+     340         109 :   param.name  = "kvz";
+     341         109 :   param.value = it->second.kvz;
+     342         109 :   conf.doubles.push_back(param);
+     343             : 
+     344         109 :   param.name  = "kaz";
+     345         109 :   param.value = it->second.kaz;
+     346         109 :   conf.doubles.push_back(param);
+     347             : 
+     348         109 :   param.name  = "kq_yaw";
+     349         109 :   param.value = it->second.kqy;
+     350         109 :   conf.doubles.push_back(param);
+     351             : 
+     352         109 :   param.name  = "km";
+     353         109 :   param.value = it->second.km;
+     354         109 :   conf.doubles.push_back(param);
+     355             : 
+     356         109 :   param.name  = "km_lim";
+     357         109 :   param.value = it->second.km_lim;
+     358         109 :   conf.doubles.push_back(param);
+     359             : 
+     360         218 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     361         218 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     362             : 
+     363         109 :   srv_req.config = conf;
+     364             : 
+     365         218 :   dynamic_reconfigure::Reconfigure reconf;
+     366         109 :   reconf.request = srv_req;
+     367             : 
+     368         109 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     369             : 
+     370         109 :   bool res = service_client_set_gains_.call(reconf);
+     371             : 
+     372         109 :   if (!res) {
+     373             : 
+     374           0 :     ROS_WARN_THROTTLE(1.0, "[GainManager]: the service for setting gains has failed!");
+     375           0 :     return false;
+     376             : 
+     377             :   } else {
+     378             : 
+     379         109 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     380             : 
+     381         109 :     return true;
+     382             :   }
+     383             : }
+     384             : 
+     385             : //}
+     386             : 
+     387             : // --------------------------------------------------------------
+     388             : // |                          callbacks                         |
+     389             : // --------------------------------------------------------------
+     390             : 
+     391             : // | -------------------- service callbacks ------------------- |
+     392             : 
+     393             : /* //{ callbackSetGains() */
+     394             : 
+     395           2 : bool GainManager::callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     396             : 
+     397           2 :   if (!is_initialized_) {
+     398           0 :     return false;
+     399             :   }
+     400             : 
+     401           4 :   std::stringstream ss;
+     402             : 
+     403           2 :   if (!sh_estimation_diag_.hasMsg()) {
+     404             : 
+     405           0 :     ss << "missing estimation diagnostics";
+     406             : 
+     407           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     408             : 
+     409           0 :     res.message = ss.str();
+     410           0 :     res.success = false;
+     411           0 :     return true;
+     412             :   }
+     413             : 
+     414           4 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     415             : 
+     416           2 :   if (!stringInVector(req.value, _gain_names_)) {
+     417             : 
+     418           1 :     ss << "the gains '" << req.value.c_str() << "' do not exist (in the GainManager's config)";
+     419             : 
+     420           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     421             : 
+     422           1 :     res.message = ss.str();
+     423           1 :     res.success = false;
+     424           1 :     return true;
+     425             :   }
+     426             : 
+     427           1 :   if (!stringInVector(req.value, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     428             : 
+     429           0 :     ss << "the gains '" << req.value.c_str() << "' are not allowed given the current state estimator";
+     430             : 
+     431           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     432             : 
+     433           0 :     res.message = ss.str();
+     434           0 :     res.success = false;
+     435           0 :     return true;
+     436             :   }
+     437             : 
+     438             :   // try to set the gains
+     439           1 :   if (!setGains(req.value)) {
+     440             : 
+     441           0 :     ss << "the Se3Controller could not set the gains";
+     442             : 
+     443           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     444             : 
+     445           0 :     res.message = ss.str();
+     446           0 :     res.success = false;
+     447           0 :     return true;
+     448             : 
+     449             :   } else {
+     450             : 
+     451           1 :     ss << "the gains '" << req.value.c_str() << "' are set";
+     452             : 
+     453           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     454             : 
+     455           1 :     res.message = ss.str();
+     456           1 :     res.success = true;
+     457           1 :     return true;
+     458             :   }
+     459             : }
+     460             : 
+     461             : //}
+     462             : 
+     463             : // --------------------------------------------------------------
+     464             : // |                           timers                           |
+     465             : // --------------------------------------------------------------
+     466             : 
+     467             : /* timerGainManagement() //{ */
+     468             : 
+     469       24204 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     470             : 
+     471       24204 :   if (!is_initialized_) {
+     472        5601 :     return;
+     473             :   }
+     474             : 
+     475       48408 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     476       48408 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     477             : 
+     478       24204 :   if (!sh_estimation_diag_.hasMsg()) {
+     479        5601 :     return;
+     480             :   }
+     481             : 
+     482       18603 :   if (!sh_control_manager_diag_.hasMsg()) {
+     483           0 :     return;
+     484             :   }
+     485             : 
+     486       37206 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     487             : 
+     488       37206 :   auto control_manager_diagnostics = sh_estimation_diag_.getMsg();
+     489             : 
+     490       37206 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     491       18603 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     492             : 
+     493             :   // | --- automatically set _gains_ when currrent state estimator changes -- |
+     494       18603 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name) {
+     495             : 
+     496         113 :     ROS_INFO_THROTTLE(1.0, "[GainManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     497             :                       estimation_diagnostics->current_state_estimator.c_str());
+     498             : 
+     499         113 :     std::map<std::string, std::string>::iterator it;
+     500         113 :     it = _map_type_default_gains_.find(estimation_diagnostics->current_state_estimator);
+     501             : 
+     502         113 :     if (it == _map_type_default_gains_.end()) {
+     503             : 
+     504           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the state estimator '%s' was not specified in the gain_manager's config!",
+     505             :                         estimation_diagnostics->current_state_estimator.c_str());
+     506             : 
+     507             :     } else {
+     508             : 
+     509             :       // if the current gains are within the allowed estimator types, do nothing
+     510         113 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     511             : 
+     512           5 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     513             : 
+     514             :         // else, try to set the default gains
+     515             :       } else {
+     516             : 
+     517         108 :         ROS_WARN_THROTTLE(1.0, "[GainManager]: the current gains '%s' are not within the allowed gains for '%s'", current_gains.c_str(),
+     518             :                           estimation_diagnostics->current_state_estimator.c_str());
+     519             : 
+     520         108 :         if (setGains(it->second)) {
+     521             : 
+     522         108 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     523             : 
+     524         108 :           ROS_INFO_THROTTLE(1.0, "[GainManager]: gains set to default: '%s'", it->second.c_str());
+     525             : 
+     526             :         } else {
+     527             : 
+     528           0 :           ROS_WARN_THROTTLE(1.0, "[GainManager]: could not set gains!");
+     529             :         }
+     530             :       }
+     531             :     }
+     532             :   }
+     533             : 
+     534       18603 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     535             : }
+     536             : 
+     537             : //}
+     538             : 
+     539             : /* timerDiagnostics() //{ */
+     540             : 
+     541        2366 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     542             : 
+     543        2366 :   if (!is_initialized_) {
+     544         546 :     return;
+     545             :   }
+     546             : 
+     547        4732 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     548        4732 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     549             : 
+     550        2366 :   if (!sh_estimation_diag_.hasMsg()) {
+     551         542 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing estimator diagnostics!");
+     552         542 :     return;
+     553             :   }
+     554             : 
+     555        1824 :   if (!sh_control_manager_diag_.hasMsg()) {
+     556           0 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing control manager diagnostics!");
+     557           0 :     return;
+     558             :   }
+     559             : 
+     560        1824 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     561             : 
+     562        1824 :   if (current_gains == "") { // this could happend just before timerGainManagement() finishes
+     563           4 :     return;
+     564             :   }
+     565             : 
+     566        1820 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     567             : 
+     568        1820 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     569             : 
+     570        1820 :   diagnostics.stamp        = ros::Time::now();
+     571        1820 :   diagnostics.current_name = current_gains;
+     572        1820 :   diagnostics.loaded       = _gain_names_;
+     573             : 
+     574             :   // get the available gains
+     575             :   {
+     576        1820 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577        1820 :     it = _map_type_allowed_gains_.find(estimation_diagnostics->current_state_estimator);
+     578             : 
+     579        1820 :     if (it == _map_type_allowed_gains_.end()) {
+     580           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the estimator name '%s' was not specified in the gain_manager's config!",
+     581             :                         estimation_diagnostics->current_state_estimator.c_str());
+     582             :     } else {
+     583        1820 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current gain values
+     588             :   {
+     589        1820 :     std::map<std::string, Gains_t>::iterator it;
+     590        1820 :     it = _gains_.find(current_gains);
+     591             : 
+     592        1820 :     if (it == _gains_.end()) {
+     593           0 :       ROS_ERROR("[GainManager]: current gains '%s' not found in the gain list!", current_gains.c_str());
+     594           0 :       return;
+     595             :     }
+     596             : 
+     597        1820 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     598        1820 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     599        1820 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     600             : 
+     601        1820 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     602             : 
+     603        1820 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     604        1820 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     605             : 
+     606        1820 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     607        1820 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     608             : 
+     609        1820 :     diagnostics.current_values.kpz = it->second.kpz;
+     610        1820 :     diagnostics.current_values.kvz = it->second.kvz;
+     611        1820 :     diagnostics.current_values.kaz = it->second.kaz;
+     612             : 
+     613        1820 :     diagnostics.current_values.kqy = it->second.kqy;
+     614             : 
+     615        1820 :     diagnostics.current_values.km     = it->second.km;
+     616        1820 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     617             :   }
+     618             : 
+     619        1820 :   ph_diagnostics_.publish(diagnostics);
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* stringInVector() //{ */
+     629             : 
+     630        2384 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     631             : 
+     632        2384 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     633         109 :     return false;
+     634             :   } else {
+     635        2275 :     return true;
+     636             :   }
+     637             : }
+     638             : 
+     639             : //}
+     640             : 
+     641             : }  // namespace gain_manager
+     642             : 
+     643             : }  // namespace mrs_uav_managers
+     644             : 
+     645             : #include <pluginlib/class_list_macros.h>
+     646         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
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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..26b079aec6e9ef3a915fcb0329e31572342913a7 GIT binary patch literal 2153 zcmV-v2$uJWP)t0{{R3FUJ9e0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp3{6OWTxkr*wpmP*g=$ThY zd{9YyPOr8!bW?o4T}f(yZ{PduLX%R&-=IK*cLTh`i32gO;NQFo6a7ui*V4=&@kui) zS}>Bm0gPOX4rX-0l;RwNOD3M$cysa0dk$c@TYL_xlAeXEc)FyxBmxga^5`m4VUOr=J{!k zkV1~C@W|=cfe?8FAiwKq;p#F<5{UL)4t{x1BywPfuHh`CnIw74nY@KZvSnS9IL!qX zqh=1~;cdk|7Y?Y~_bf3TwSoW36idr+hX#{1r2tI;oTQkudQ4LU)@(&y?Ha)KpvM)7 zd#XGF0p(_ffFlq}!8HsxA#ij>?6h!~IBJL|UDEaCsep8J|H7V+MmtKz2VQ0|MA359 z0*>-%6s?LS`3rzr9O$7vKp8oP$mSNHkgol>+d%h9vTNljws};uU3-gh|9PNzOyPac z8eBNj_XIXo`r+uPt@yC<5dwGp>!9jMGsF76fI3-MoL7v>Q688?kX|Omes1}Aw-;#V z`*A(Lo~Qrl{pvgu;76rhz_SJjK>5r$84O2_I-|JTa4S6CWw_?+wQ=zbS9h+3g)huH zut27jy&$k|JxnY6khUImhxKHxM+bFgI_(b&A11nF0If09fZVR-lc|Y#uq0Cd>e`}s z^iq^R5G%}49Yjtlu@X&2x{;y>#y3pykU;Gyl6i`}>n6}qY~-XoQN*JLAhV^LvvN-c zj3UuW4an_U{?tBXU1{T<<54!FSrMa#0;d(DX9gqXq!MYX$XMWh!jZ1A?q!_EQg~Qu zamkl!yJA1z5BmXFhFQz?8^~L(d)DhPfM(po6gYMYKx_dy_4&dn?@#(yt zZNP5+{%TF{8yx_csHz>#1QnK3u2+R7>Zs0Ke{vS|+yKhz`j1Cp9ywiqIgborJC&# zDV`_68wzYwe75q!cNqmNe#lNhqMeKzg-;HbrNC^853|@Sv*yRsWmoBDf&kq)UGoJg z1Quz=xxccY6_O^vHbv1TuEQu$6&9^~UO!Fo!ZS?8(E8aHOfD8F!>1VWC5b)ELDs zN7@Q!q#fyR-YXOrDsMl5v~3mn4Hk5*3PDZWq~8$P+wyr1#rtaF;&epQ8?bE0^GX1j zt!E4Hh2rTc9UQA(_&A z+E=G}BmvT^()e<`A(Xl-a`Oo;f4ebU1~c_%rk3ZC*L`D^-<_HPWZEXZUq+4Qng%6%@w$ZmJ;6{M;Gu{c}-x%eRQFAo2bI6N`Y!>3RcxS6eg zPQYGd0L|m+-kaM~-y^cGgv?{QHi;Xb(K-BesL;z7PX+n?OlII2sd0)Iji{VP*B*#o zIz0dp4@A4>@@P*#eNb7GICoW`HWmI8kh1%-O+{s|U^fabwCLF@Fr%JFA|Fku`Wg&x z(%kmb#c>x*1LusQEVM_Af-00`w#+E#Li_S!th;UF_K@z{&C6emZ9DSMxEM>6INt)~ z3;b@12kuYNLLg{PKfCKd?h}CWJPuOS#O+u_;CLD4=lt9j+Q$#uob?^#?D@j*83#FH zx5>z>WG=$>e;wW-fnRCyi;s3cx8=?YTgI_mhF`fD27v$N3FNlI+CO=U5;XnM0c + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
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gain_manager.cpp +
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constraint_manager.cpp +
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uav_manager.cpp +
67.1%67.1%
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null_tracker.cpp +
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+ 		69.5 %41 / 5955.0 %11 / 20
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constraint_manager.cpp +
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+ 		83.6 %194 / 232100.0 %8 / 8
<unnamed>83.6 %194 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
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<unnamed>86.8 %224 / 258100.0 %7 / 7
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<unnamed>83.6 %194 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
<unnamed>86.8 %224 / 258100.0 %7 / 7
null_tracker.cpp +
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+ 		69.5 %41 / 5955.0 %11 / 20
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uav_manager.cpp +
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<unnamed>67.1 %792 / 1180100.0 %38 / 38
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null_tracker.cpp +
69.5%69.5%
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gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
constraint_manager.cpp +
83.6%83.6%
+ 		83.6 %194 / 232100.0 %8 / 8
uav_manager.cpp +
67.1%67.1%
+ 		67.1 %792 / 1180100.0 %38 / 38
+
+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:1251172972.4 %
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uav_manager.cpp +
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null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
constraint_manager.cpp +
83.6%83.6%
+ 		83.6 %194 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
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+
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1251172972.4 %
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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
constraint_manager.cpp +
83.6%83.6%
+ 		83.6 %194 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
uav_manager.cpp +
67.1%67.1%
+ 		67.1 %792 / 1180100.0 %38 / 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:415969.5 %
Date:2024-10-08 22:31:24Functions: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&)6
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_managers::NullTracker::~NullTracker()108
mrs_uav_managers::NullTracker::~NullTracker().2108
mrs_uav_managers::NullTracker::deactivate()239
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)243
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_managers::NullTracker::getStatus()7257
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.func.html b/mrs_uav_managers/src/null_tracker.cpp.func.html new file mode 100644 index 0000000000..035983254b --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.func.html @@ -0,0 +1,160 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/null_tracker.cpp - functions + + + + + + + + + + + + + + +
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:415969.5 %
Date:2024-10-08 22:31:24Functions:112055.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::NullTracker::deactivate()239
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>)108
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&)380
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)6
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&)139435
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)243
mrs_uav_managers::NullTracker::getStatus()7257
mrs_uav_managers::NullTracker::~NullTracker()108
mrs_uav_managers::NullTracker::~NullTracker().2108
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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:415969.5 %
Date:2024-10-08 22:31:24Functions: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         216 :   ~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         108 : 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         216 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60         108 :   ros::Time::waitForValid();
+      61             : 
+      62         108 :   is_initialized = true;
+      63             : 
+      64         108 :   this->common_handlers = common_handlers;
+      65             : 
+      66         108 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         216 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         243 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         243 :   std::stringstream ss;
+      78         243 :   ss << "activated";
+      79             : 
+      80         243 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         243 :   is_active = true;
+      82             : 
+      83         486 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         239 : void NullTracker::deactivate(void) {
+      91             : 
+      92         239 :   ROS_INFO("[NullTracker]: deactivated");
+      93         239 :   is_active = false;
+      94         239 : }
+      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      139435 : 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      139435 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        7257 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        7257 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        7257 :   tracker_status.active            = is_active;
+     131        7257 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        7257 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         309 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         618 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         309 :   std::stringstream ss;
+     145             : 
+     146         309 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148          12 :     callbacks_enabled = cmd->data;
+     149             : 
+     150          12 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152          12 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         297 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         309 :   res.message = ss.str();
+     160         309 :   res.success = true;
+     161             : 
+     162         927 :   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           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           6 :   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         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         380 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248         108 : 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:34743180.5 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
transform_manager.cpp +
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+ 		80.5 %347 / 43192.9 %13 / 14
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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:34743180.5 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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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&) const3
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()108
mrs_uav_managers::transform_manager::TransformManager::onInit()108
mrs_uav_managers::transform_manager::TransformManager::TransformManager()108
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1743
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2691
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80366
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106297
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)156871
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172549
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)231945
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)231945
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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:34743180.5 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80366
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2691
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()108
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172549
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)156871
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106297
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)231945
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)231945
mrs_uav_managers::transform_manager::TransformManager::onInit()108
mrs_uav_managers::transform_manager::TransformManager::TransformManager()108
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1743
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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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.gcov.frameset.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e54ea334d2 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html new file mode 100644 index 0000000000..8ba28f9088 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html @@ -0,0 +1,1041 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + + + + + + + + +
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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:34743180.5 %
Date:2024-10-08 22:31:24Functions:131492.9 %
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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         108 :   TransformManager() {
+      50         108 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52         108 :     ch_->nodelet_name = nodelet_name_;
+      53         108 :     ch_->package_name = package_name_;
+      54         108 :   }
+      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::PoseStamped pose_first_;
+      86             :   geometry_msgs::Pose pose_fixed_;
+      87             :   geometry_msgs::Pose pose_fixed_diff_;
+      88             : 
+      89             :   std::string ns_amsl_origin_parent_frame_id_;
+      90             :   std::string ns_amsl_origin_child_frame_id_;
+      91             :   bool        publish_amsl_origin_tf_;
+      92             : 
+      93             :   std::string          world_origin_units_;
+      94             :   geometry_msgs::Point world_origin_;
+      95             : 
+      96             :   std::vector<std::string>               tf_source_names_, estimator_names_;
+      97             :   std::vector<std::unique_ptr<TfSource>> tf_sources_;
+      98             : 
+      99             :   std::vector<std::string> utm_source_priority_list_;
+     100             :   std::string              utm_source_name_;
+     101             : 
+     102             :   std::mutex mtx_broadcast_utm_origin_;
+     103             :   std::mutex mtx_broadcast_world_origin_;
+     104             : 
+     105             :   ros::NodeHandle nh_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     110             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     111             : 
+     112             :   std::unique_ptr<TfMappingOrigin> tf_mapping_origin_;
+     113             : 
+     114             :   void timeoutCallback(const std::string& topic, const ros::Time& last_msg);
+     115             : 
+     116             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     117             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     118             :   std::string                                   first_frame_id_;
+     119             :   std::string                                   last_frame_id_;
+     120             :   bool                                          is_first_frame_id_set_        = false;
+     121             :   bool                                          is_local_static_tf_published_ = false;
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_height_agl_;
+     124             :   void                                                callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude> sh_altitude_amsl_;
+     127             :   void                                               callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg);
+     128             : 
+     129             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+     130             :   void                                                        callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+     131             : 
+     132             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     133             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+     134             :   std::atomic<bool>                                 got_utm_offset_ = false;
+     135             : 
+     136             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_gps_;
+     137             :   void                                        callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg);
+     138             : 
+     139             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     140             : 
+     141             :   void publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg);
+     142             : 
+     143             :   void publishLocalTf();
+     144             : };
+     145             : /*//}*/
+     146             : 
+     147             : 
+     148             : /*//{ onInit() */
+     149         108 : void TransformManager::onInit() {
+     150             : 
+     151         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     152             : 
+     153         108 :   ros::Time::waitForValid();
+     154             : 
+     155         108 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     156             : 
+     157         108 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     158             : 
+     159         108 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     160         108 :   ch_->transformer->retryLookupNewest(true);
+     161             : 
+     162         216 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     163             : 
+     164         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     165         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     166         108 :   param_loader.loadParam("world_config", _world_config_);
+     167             : 
+     168         108 :   if (_custom_config_ != "") {
+     169         108 :     param_loader.addYamlFile(_custom_config_);
+     170             :   }
+     171             : 
+     172         108 :   if (_platform_config_ != "") {
+     173         108 :     param_loader.addYamlFile(_platform_config_);
+     174             :   }
+     175             : 
+     176         108 :   if (_world_config_ != "") {
+     177         108 :     param_loader.addYamlFile(_world_config_);
+     178             :   }
+     179             : 
+     180         108 :   param_loader.addYamlFileFromParam("private_config");
+     181         108 :   param_loader.addYamlFileFromParam("public_config");
+     182         108 :   param_loader.addYamlFileFromParam("estimators_config");
+     183             : 
+     184         216 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     185             : 
+     186         108 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     187             : 
+     188             :   /*//{ initialize scope timer */
+     189         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     190         216 :   std::string       filepath;
+     191         216 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     192         108 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+     193             :   /*//}*/
+     194             : 
+     195             :   /*//{ load world_origin parameters */
+     196             : 
+     197         108 :   bool   is_origin_param_ok = true;
+     198         108 :   double world_origin_x     = 0;
+     199         108 :   double world_origin_y     = 0;
+     200             : 
+     201         108 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     202             : 
+     203         108 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     204             : 
+     205           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     206             : 
+     207           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     208           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     209             : 
+     210         108 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     211             : 
+     212         108 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     213             : 
+     214             :     double lat, lon;
+     215         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     216         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     217             : 
+     218         108 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     219             : 
+     220         108 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     221             : 
+     222             :   } else {
+     223           0 :     ROS_ERROR("[%s]: world_origin/units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     224           0 :     ros::shutdown();
+     225             :   }
+     226             : 
+     227         108 :   world_origin_.x = world_origin_x;
+     228         108 :   world_origin_.y = world_origin_y;
+     229         108 :   world_origin_.z = 0;
+     230             : 
+     231         108 :   if (!is_origin_param_ok) {
+     232           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     233           0 :     ros::shutdown();
+     234             :   }
+     235             : 
+     236             :   /*//}*/
+     237             : 
+     238             :   /*//{ load local_origin parameters */
+     239         216 :   std::string local_origin_parent_frame_id;
+     240         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     241         108 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     242             : 
+     243         216 :   std::string local_origin_child_frame_id;
+     244         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     245         108 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     246             : 
+     247         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load stable_origin parameters */
+     251         216 :   std::string stable_origin_parent_frame_id;
+     252         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     253         108 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     254             : 
+     255         216 :   std::string stable_origin_child_frame_id;
+     256         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     257         108 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     258             : 
+     259         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fixed_origin parameters */
+     263         216 :   std::string fixed_origin_parent_frame_id;
+     264         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     265         108 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     266             : 
+     267         216 :   std::string fixed_origin_child_frame_id;
+     268         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     269         108 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     270             : 
+     271         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     272             :   /*//}*/
+     273             : 
+     274             :   /*//{ load fcu_untilted parameters */
+     275         216 :   std::string fcu_frame_id;
+     276         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     277         108 :   ch_->frames.fcu    = fcu_frame_id;
+     278         108 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     279             : 
+     280         216 :   std::string fcu_untilted_frame_id;
+     281         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     282         108 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     283         108 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     284             : 
+     285         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     286             :   /*//}*/
+     287             : 
+     288             :   /*//{ load amsl_origin parameters*/
+     289         216 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     290         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     291         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     292         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     293         108 :   ch_->frames.amsl                = amsl_child_frame_id;
+     294         108 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     295         108 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     296         108 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     297             : 
+     298             :   /*//}*/
+     299             : 
+     300         108 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     301         108 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     302             : 
+     303         108 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     304         108 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     305             : 
+     306         108 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     307         337 :   for (auto utm_source : utm_source_priority_list_) {
+     308         336 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     309         107 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     310         107 :       utm_source_name_ = utm_source;
+     311         107 :       break;
+     312             :     }
+     313             :   }
+     314             : 
+     315             :   /*//{ initialize tf sources */
+     316         108 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     317             : 
+     318           0 :     const std::string tf_source_name = tf_source_names_[i];
+     319           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     320             : 
+     321           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     322             : 
+     323           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     324             : 
+     325           0 :     if (_custom_config_ != "") {
+     326           0 :       source_param_loader->addYamlFile(_custom_config_);
+     327             :     }
+     328             : 
+     329           0 :     if (_platform_config_ != "") {
+     330           0 :       source_param_loader->addYamlFile(_platform_config_);
+     331             :     }
+     332             : 
+     333           0 :     if (_world_config_ != "") {
+     334           0 :       source_param_loader->addYamlFile(_world_config_);
+     335             :     }
+     336             : 
+     337           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     338           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     339           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     340             : 
+     341           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     342             :   }
+     343             : 
+     344             :   // additionally publish tf of all available estimators
+     345         224 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     346             : 
+     347         232 :     const std::string estimator_name = estimator_names_[i];
+     348         116 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     349         116 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     350             : 
+     351         116 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     352             : 
+     353         116 :     if (_custom_config_ != "") {
+     354         116 :       estimator_param_loader->addYamlFile(_custom_config_);
+     355             :     }
+     356             : 
+     357         116 :     if (_platform_config_ != "") {
+     358         116 :       estimator_param_loader->addYamlFile(_platform_config_);
+     359             :     }
+     360             : 
+     361         116 :     if (_world_config_ != "") {
+     362         116 :       estimator_param_loader->addYamlFile(_world_config_);
+     363             :     }
+     364             : 
+     365         116 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     366         116 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     367         116 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     368             : 
+     369         116 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     370             :   }
+     371             : 
+     372             :   // initialize mapping_origin tf
+     373             :   bool mapping_origin_tf_enabled;
+     374         108 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     375             : 
+     376         108 :   if (mapping_origin_tf_enabled) {
+     377             : 
+     378           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     379             : 
+     380           0 :     if (_custom_config_ != "") {
+     381           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     382             :     }
+     383             : 
+     384           0 :     if (_platform_config_ != "") {
+     385           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     386             :     }
+     387             : 
+     388           0 :     if (_world_config_ != "") {
+     389           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     390             :     }
+     391             : 
+     392           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     393           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     394           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     395             : 
+     396           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     397             :   }
+     398             : 
+     399             :   //}
+     400             : 
+     401             :   /*//{ initialize subscribers */
+     402         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     403         108 :   shopts.nh                 = nh_;
+     404         108 :   shopts.node_name          = getPrintName();
+     405         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     406         108 :   shopts.threadsafe         = true;
+     407         108 :   shopts.autostart          = true;
+     408         108 :   shopts.queue_size         = 10;
+     409         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     410             : 
+     411         108 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     412             : 
+     413         108 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     414             : 
+     415         108 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     416             : 
+     417             :   sh_hw_api_orientation_ =
+     418         108 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     419             : 
+     420         108 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     421           3 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     422             :   } else {
+     423         105 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     424             :   }
+     425             :   /*//}*/
+     426             : 
+     427         108 :   if (!param_loader.loadedSuccessfully()) {
+     428           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     429           0 :     ros::shutdown();
+     430             :   }
+     431             : 
+     432         108 :   is_initialized_ = true;
+     433         108 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     434         108 : }
+     435             : /*//}*/
+     436             : 
+     437             : /*//{ callbackUavState() */
+     438             : 
+     439      172549 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     440             : 
+     441      172549 :   if (!is_initialized_) {
+     442           0 :     return;
+     443             :   }
+     444             : 
+     445      345098 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     446             : 
+     447             :   // obtain first frame_id
+     448      172549 :   if (!is_first_frame_id_set_) {
+     449         108 :     first_frame_id_                = msg->header.frame_id;
+     450         108 :     last_frame_id_                 = msg->header.frame_id;
+     451         108 :     pose_fixed_                    = msg->pose;
+     452         108 :     pose_first_.pose               = msg->pose;
+     453         108 :     pose_first_.header             = msg->header;
+     454         108 :     pose_fixed_diff_.orientation.w = 1;
+     455             : 
+     456             :     // we don't want vins_kickoff to be our first estimator
+     457         108 :     if (msg->header.frame_id != ch_->uav_name + "/vins_kickoff_origin") {
+     458         108 :       is_first_frame_id_set_ = true;
+     459             :     }
+     460             :   }
+     461             : 
+     462             :   // publish static tf from fixed_origin to local_origin based on the first message
+     463      172549 :   if (publish_local_origin_tf_ && !is_local_static_tf_published_) {
+     464         108 :     publishLocalTf();
+     465             :   }
+     466             : 
+     467      172549 :   if (publish_stable_origin_tf_) {
+     468             :     /*//{ publish stable_origin tf*/
+     469      172549 :     geometry_msgs::TransformStamped tf_msg;
+     470      172549 :     tf_msg.header.stamp    = msg->header.stamp;
+     471      172549 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     472      172549 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     473             : 
+     474             :     // transform pose to first frame_id
+     475      172549 :     geometry_msgs::PoseStamped pose;
+     476      172549 :     pose.header = msg->header;
+     477      172549 :     pose.pose   = msg->pose;
+     478      172549 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     479           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     480             :                     pose.header.frame_id.c_str());
+     481           0 :       pose.pose.orientation.w = 1.0;
+     482             :     }
+     483             : 
+     484      172549 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     485             : 
+     486      172549 :     if (res) {
+     487      172549 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     488      172549 :       const tf2::Transform      tf_inv   = tf.inverse();
+     489      172549 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     490      172549 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     491      172549 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     492             : 
+     493      172549 :       if (Support::noNans(tf_msg)) {
+     494             :         try {
+     495      172549 :           broadcaster_->sendTransform(tf_msg);
+     496             :         }
+     497           0 :         catch (...) {
+     498           0 :           ROS_ERROR("exception caught ");
+     499             :         }
+     500             :       } else {
+     501           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(),
+     502             :                           tf_msg.child_frame_id.c_str());
+     503             :       }
+     504      172549 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     505             :                     tf_msg.child_frame_id.c_str());
+     506             :     } else {
+     507           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());
+     508           0 :       return;
+     509             :     }
+     510             :     /*//}*/
+     511             :   }
+     512             : 
+     513      172549 :   if (publish_fixed_origin_tf_) {
+     514             :     /*//{ publish fixed_origin tf*/
+     515      172549 :     if (msg->header.frame_id != last_frame_id_) {
+     516           5 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     517             :                msg->header.frame_id.c_str());
+     518             : 
+     519           5 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     520             :     }
+     521             : 
+     522             : 
+     523      172549 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     524             : 
+     525      345098 :     geometry_msgs::TransformStamped tf_msg;
+     526      172549 :     tf_msg.header.stamp    = msg->header.stamp;
+     527      172549 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     528      172549 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     529             : 
+     530      172549 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     531      172549 :     const tf2::Transform      tf_inv   = tf.inverse();
+     532      172549 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     533      172549 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     534      172549 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     535             : 
+     536      172549 :     if (Support::noNans(tf_msg)) {
+     537             :       try {
+     538      172549 :         broadcaster_->sendTransform(tf_msg);
+     539             :       }
+     540           0 :       catch (...) {
+     541           0 :         ROS_ERROR("exception caught ");
+     542             :       }
+     543             :     } else {
+     544           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(),
+     545             :                         tf_msg.child_frame_id.c_str());
+     546             :     }
+     547      172549 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     548             :                   tf_msg.child_frame_id.c_str());
+     549             :     /*//}*/
+     550             :   }
+     551             : 
+     552             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     553      172549 :   if (msg->header.frame_id != last_frame_id_) {
+     554             : 
+     555          10 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     556          10 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     557             : 
+     558           5 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     559             : 
+     560           5 :     bool   valid_utm_source_found = false;
+     561             :     size_t potential_utm_source_index;
+     562             : 
+     563          12 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     564             : 
+     565             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     566          12 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     567             : 
+     568           8 :         valid_utm_source_found     = true;
+     569           8 :         potential_utm_source_index = i;
+     570             : 
+     571             :         // check if switched-to estimator is utm_based, if so, use it
+     572           8 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     573           5 :           potential_utm_source_index = i;
+     574           5 :           break;
+     575             :         }
+     576             :       }
+     577             :     }
+     578             : 
+     579             : 
+     580             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     581           5 :     if (valid_utm_source_found) {
+     582             : 
+     583             :       // stop all estimators from publishing utm source
+     584          23 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     585          18 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     586           5 :           tf_sources_.at(i)->setIsUtmSource(false);
+     587           5 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     588             :         }
+     589             :       }
+     590             : 
+     591           5 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     592           5 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     593             :     }
+     594             :   }
+     595             :   /*//}*/
+     596             : 
+     597      172549 :   last_frame_id_ = msg->header.frame_id;
+     598             : }
+     599             : /*//}*/
+     600             : 
+     601             : /*//{ callbackHeightAgl() */
+     602             : 
+     603      156871 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     604             : 
+     605      156871 :   if (!is_initialized_) {
+     606           0 :     return;
+     607             :   }
+     608             : 
+     609      470613 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     610             : 
+     611      313742 :   geometry_msgs::TransformStamped tf_msg;
+     612      156871 :   tf_msg.header.stamp    = msg->header.stamp;
+     613      156871 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     614      156871 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     615             : 
+     616      156871 :   tf_msg.transform.translation.x = 0;
+     617      156871 :   tf_msg.transform.translation.y = 0;
+     618      156871 :   tf_msg.transform.translation.z = -msg->value;
+     619      156871 :   tf_msg.transform.rotation.x    = 0;
+     620      156871 :   tf_msg.transform.rotation.y    = 0;
+     621      156871 :   tf_msg.transform.rotation.z    = 0;
+     622      156871 :   tf_msg.transform.rotation.w    = 1;
+     623             : 
+     624      156871 :   if (Support::noNans(tf_msg)) {
+     625             :     try {
+     626      156871 :       broadcaster_->sendTransform(tf_msg);
+     627             :     }
+     628           0 :     catch (...) {
+     629           0 :       ROS_ERROR("exception caught ");
+     630             :     }
+     631             :   } else {
+     632           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(),
+     633             :                       tf_msg.child_frame_id.c_str());
+     634             :   }
+     635      156871 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     636             :                 tf_msg.child_frame_id.c_str());
+     637             : }
+     638             : /*//}*/
+     639             : 
+     640             : /*//{ callbackAltitudeAmsl() */
+     641             : 
+     642      106297 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     643             : 
+     644      106297 :   if (!is_initialized_) {
+     645           0 :     return;
+     646             :   }
+     647             : 
+     648      318891 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     649             : 
+     650      212594 :   geometry_msgs::TransformStamped tf_msg;
+     651      106297 :   tf_msg.header.stamp    = msg->stamp;
+     652      106297 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     653      106297 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     654             : 
+     655      106297 :   tf_msg.transform.translation.x = 0;
+     656      106297 :   tf_msg.transform.translation.y = 0;
+     657      106297 :   tf_msg.transform.translation.z = -msg->amsl;
+     658      106297 :   tf_msg.transform.rotation.x    = 0;
+     659      106297 :   tf_msg.transform.rotation.y    = 0;
+     660      106297 :   tf_msg.transform.rotation.z    = 0;
+     661      106297 :   tf_msg.transform.rotation.w    = 1;
+     662             : 
+     663      106297 :   if (Support::noNans(tf_msg)) {
+     664             :     try {
+     665      106262 :       broadcaster_->sendTransform(tf_msg);
+     666             :     }
+     667           0 :     catch (...) {
+     668           0 :       ROS_ERROR("exception caught ");
+     669             :     }
+     670             :   } else {
+     671          35 :     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(),
+     672             :                       tf_msg.child_frame_id.c_str());
+     673             :   }
+     674      106297 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     675             :                 tf_msg.child_frame_id.c_str());
+     676             : }
+     677             : /*//}*/
+     678             : 
+     679             : /*//{ callbackHwApiOrientation() */
+     680      231945 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     681             : 
+     682      231945 :   if (!is_initialized_) {
+     683           0 :     return;
+     684             :   }
+     685             : 
+     686      695835 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     687             : 
+     688      231945 :   if (publish_fcu_untilted_tf_) {
+     689      231945 :     publishFcuUntiltedTf(msg);
+     690             :   }
+     691             : }
+     692             : /*//}*/
+     693             : 
+     694             : /*//{ callbackGnss() */
+     695       80366 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     696             : 
+     697       80366 :   if (!is_initialized_) {
+     698       80261 :     return;
+     699             :   }
+     700             : 
+     701       80366 :   if (got_utm_offset_) {
+     702       80261 :     return;
+     703             :   }
+     704             : 
+     705         210 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     706             : 
+     707             :   double out_x;
+     708             :   double out_y;
+     709             : 
+     710         105 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     711             : 
+     712         105 :   if (!std::isfinite(out_x)) {
+     713           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     714           0 :     return;
+     715             :   }
+     716             : 
+     717         105 :   if (!std::isfinite(out_y)) {
+     718           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     719           0 :     return;
+     720             :   }
+     721             : 
+     722         105 :   geometry_msgs::Point utm_origin;
+     723         105 :   utm_origin.x = out_x;
+     724         105 :   utm_origin.y = out_y;
+     725         105 :   utm_origin.z = msg->altitude;
+     726             : 
+     727         105 :   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);
+     728             : 
+     729         215 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     730         110 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     731         110 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     732             :   }
+     733         105 :   got_utm_offset_ = true;
+     734             : }
+     735             : /*//}*/
+     736             : 
+     737             : /*//{ callbackRtkGps() */
+     738        2691 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     739             : 
+     740        2691 :   if (!is_initialized_) {
+     741        2688 :     return;
+     742             :   }
+     743             : 
+     744        2691 :   if (got_utm_offset_) {
+     745        2688 :     return;
+     746             :   }
+     747             : 
+     748           6 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     749             : 
+     750             :   double out_x;
+     751             :   double out_y;
+     752             : 
+     753           3 :   geometry_msgs::PoseStamped rtk_pos;
+     754             : 
+     755           3 :   if (!std::isfinite(msg->gps.latitude)) {
+     756           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     757           0 :     return;
+     758             :   }
+     759             : 
+     760           3 :   if (!std::isfinite(msg->gps.longitude)) {
+     761           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     762           0 :     return;
+     763             :   }
+     764             : 
+     765           3 :   if (!std::isfinite(msg->gps.altitude)) {
+     766           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     767           0 :     return;
+     768             :   }
+     769             : 
+     770           3 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     771           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     772           0 :     return;
+     773             :   }
+     774             : 
+     775           3 :   rtk_pos.header = msg->header;
+     776           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     777           3 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     778           3 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     779             : 
+     780           3 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     781           3 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     782             : 
+     783             : 
+     784             :   // transform the RTK position from antenna to FCU
+     785           3 :   auto res = transformRtkToFcu(rtk_pos);
+     786           3 :   if (res) {
+     787           3 :     rtk_pos.pose = res.value();
+     788             :   } else {
+     789           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     790           0 :     return;
+     791             :   }
+     792             : 
+     793           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     794             : 
+     795           3 :   if (!std::isfinite(out_x)) {
+     796           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     797           0 :     return;
+     798             :   }
+     799             : 
+     800           3 :   if (!std::isfinite(out_y)) {
+     801           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     802           0 :     return;
+     803             :   }
+     804             : 
+     805           3 :   geometry_msgs::Point utm_origin;
+     806           3 :   utm_origin.x = out_x;
+     807           3 :   utm_origin.y = out_y;
+     808           3 :   utm_origin.z = msg->gps.altitude;
+     809             : 
+     810           3 :   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);
+     811             : 
+     812           9 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     813           6 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     814           6 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     815             :   }
+     816           3 :   got_utm_offset_ = true;
+     817             : }
+     818             : /*//}*/
+     819             : 
+     820             : /*//{ publishFcuUntiltedTf() */
+     821      231945 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     822             : 
+     823      463890 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     824             : 
+     825             :   double heading;
+     826             : 
+     827             :   try {
+     828      231945 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     829             :   }
+     830           0 :   catch (...) {
+     831           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     832           0 :     return;
+     833             :   }
+     834      231945 :   scope_timer.checkpoint("heading");
+     835             : 
+     836      231945 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     837      231945 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     838             : 
+     839      231945 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     840      231945 :   const tf2::Quaternion q_inv = q.inverse();
+     841             : 
+     842      231945 :   scope_timer.checkpoint("q inverse");
+     843             : 
+     844      231945 :   geometry_msgs::TransformStamped tf;
+     845      231945 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     846      231945 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     847      231945 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     848      231945 :   tf.transform.translation.x = 0.0;
+     849      231945 :   tf.transform.translation.y = 0.0;
+     850      231945 :   tf.transform.translation.z = 0.0;
+     851      231945 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     852             : 
+     853      231945 :   scope_timer.checkpoint("tf fill");
+     854      231945 :   if (Support::noNans(tf)) {
+     855      231945 :     broadcaster_->sendTransform(tf);
+     856             :   } else {
+     857           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     858             :   }
+     859      231945 :   scope_timer.checkpoint("tf pub");
+     860             : }
+     861             : /*//}*/
+     862             : 
+     863             : /* publishLocalTf() //{*/
+     864         108 : void TransformManager::publishLocalTf() {
+     865             : 
+     866         324 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     867             : 
+     868         108 :   geometry_msgs::TransformStamped tf_msg;
+     869         108 :   tf_msg.header.stamp = pose_first_.header.stamp;
+     870             : 
+     871         108 :   tf_msg.header.frame_id       = ns_fixed_origin_child_frame_id_;
+     872         108 :   tf_msg.child_frame_id        = ns_local_origin_child_frame_id_;
+     873         108 :   tf_msg.transform.translation = Support::pointToVector3(pose_first_.pose.position);
+     874         108 :   tf_msg.transform.rotation    = pose_first_.pose.orientation;
+     875             : 
+     876         108 :   if (Support::noNans(tf_msg)) {
+     877             : 
+     878             :     try {
+     879         108 :       static_broadcaster_.sendTransform(tf_msg);
+     880             :     }
+     881           0 :     catch (...) {
+     882           0 :       ROS_ERROR("[%s]: exception caught while publishing tf from %s to %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     883             :                 tf_msg.child_frame_id.c_str());
+     884             :     }
+     885             : 
+     886             :   } else {
+     887           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(),
+     888             :                       tf_msg.child_frame_id.c_str());
+     889             :   }
+     890         108 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     891             :                 tf_msg.child_frame_id.c_str());
+     892         108 :   is_local_static_tf_published_ = true;
+     893         108 : }
+     894             : /*//}*/
+     895             : 
+     896             : /*//{ transformRtkToFcu() */
+     897           3 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     898             : 
+     899           6 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     900             : 
+     901             :   // inject current orientation into rtk pose
+     902           6 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     903           3 :   if (res1) {
+     904           3 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     905             :   } else {
+     906           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     907             :                        ch_->frames.ns_fcu.c_str());
+     908           0 :     return {};
+     909             :   }
+     910             : 
+     911             :   // invert tf
+     912           3 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     913           6 :   geometry_msgs::PoseStamped utm_in_antenna;
+     914           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     915           3 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     916           3 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     917             : 
+     918             :   // transform to fcu
+     919           6 :   geometry_msgs::PoseStamped utm_in_fcu;
+     920           3 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     921           3 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     922           6 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     923             : 
+     924           3 :   if (res2) {
+     925           3 :     utm_in_fcu = res2.value();
+     926             :   } else {
+     927           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(),
+     928             :                        ch_->frames.ns_fcu.c_str());
+     929           0 :     return {};
+     930             :   }
+     931             : 
+     932             :   // invert tf
+     933           3 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     934           3 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     935             : 
+     936           3 :   return fcu_in_utm;
+     937             : }
+     938             : /*//}*/
+     939             : 
+     940             : /*//{ getName() */
+     941           0 : std::string TransformManager::getName() const {
+     942           0 :   return name_;
+     943             : }
+     944             : /*//}*/
+     945             : 
+     946             : /*//{ getPrintName() */
+     947        1743 : std::string TransformManager::getPrintName() const {
+     948        1743 :   return nodelet_name_;
+     949             : }
+     950             : /*//}*/
+     951             : 
+     952             : }  // namespace transform_manager
+     953             : 
+     954             : }  // namespace mrs_uav_managers
+     955             : 
+     956             : #include <pluginlib/class_list_macros.h>
+     957         108 : 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..40fab38fd5 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,260 @@ + + + + + + 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 + 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..5666ab05849fb95f0b50418ebd41ac5a7f56ba11 GIT binary patch literal 3392 zcmV-G4Zre_NL1Guy5P(~|Itp5yga0e-lR z*V^?;;Icq@AWJdBFX|q?YNqZEW@sDF%Cgkds9pxLZKOb{XHppyi5DUbmMQSAF0=x< z+UqVn*+kGYgIY7Fbht)392*0vgHc)d`Qawiqy*OCo2X5POS?`Hcvj?z$~Bf1P-M!{ zN(6F4CHcBW|8_%*d#XO~L!W20(QaHp$k$a&~%6PXLD9w`rMSgXjXyk_eYMro45WMzN5pMVzw&PmCECd)oiY z&8poLNtpqiBW=u4uCSDs?F~~knAQqw5x7gN7P2Ouie@5>s!sH{In@I#nr2tCAfDpz zSS)f=ai=l`II+Q=nK?7?oPVx2n3S|rb?|;_K|M^12!VZE>Rcq`+^<7_gbR36CbR8yian&GAXN_h0yx zUdu(=CRL3e5qhh2DB^?l2k6uGtcHS3c0Fk=zq$-e%P`Y2bO>i*=? z_1}@>-?+ZCua!1f`?@%1F1ut+ii|cOV4uKYXB}fkP>S7`5=aw@lJ1;z?LVPC>UMM` zaPZj044U@LTx-C3?n#Ylx6vUW>BO2Dp|@QHlqp)3;`-HILyq~G0EG$sExOZDg{mlR zEP<0i@p#o@@XDpvL=kDUkd0^*N^=1g4>I`QbAFLtyCv8e(m073543P?47=Wzkn8P` zyvPjt=mQk*@iEgm8M$hGfuZfI_-${`t;BzBWQDDI^8-Q8ew)LR-kxh=5iTXDyR)hgNSRjy2!d zMs^KAR}<;;eGKXW;Qm##l?Ir9z6Lbas&E?f6x=&?;?X0@I*{+8v;jg0%Z93K+r`$dfKyf4(y=1g+3Y93a+baU<+pl7vK45j=-tKvx{8Q5QkW`r>OVK zymYNnZU`$fiCf$rlC;O3)&=WVm1NVJac@m(&_qhJkWrT-ps{17$6|}^cPunvX8qaR zwNMr=@=5pR=B~6I;Bu(~_ex>t?;DjO`|ZL2@0rbpa&3WLHQwrw=3-=)ibUHJmfs zjs?0J2q~K77*u=kovmEFL%7xyH}*YglK^yab*r?I?40czKaP8iJdOvTb=`IzXv)wCD!b>D>gx6&%I$TZ`-%rzRCiZNTOKm5 zIackTQf}<(V_G;wLc<=kYU7vz;+~7Dg&mEU(LSRk7wH>%V$qy@jak@=yYdzGqt^H$ z0^1_*nNqCY+2uSUm?5Tu8I8iJdzaJN461a_R#{1wKnSsqV?*CX5$*pt6r>;wRgxKB?F7O=U z95j?@NP4cq59jYo@pUIP&M~&3zN2$8jxI?lDg!UMq_yJ%fha6CM{V;{R-B}+RtjSg zSgF_|z5>Te+G4vt>Uvv3z7T;gZ8Yy8UEV~rhjh)41MquD^_zctNG-0(09ooKApxpR z9HvMU$RwcCl=nC@f)zdmtmdOl@re02 z69XX3+-5#nz(4a*SG`n)2mT`Sf#cyzJpY+4bjlkWD5H|dhy-2!%!g_~B&$H}!k<+z zbFFet_dXPg)NS?+{g?b*UJ64O!7m>%U*MSwl}Aro%VheGhpISrqTr57ozIuIRsp^f!n_hcbT8` zluu6V4_zloOq)_nQiH&g0IUVy@vCI1veu!2pApB^Z5+Fj!jq|&{-25a{x;(7_(dje z7KM6v=_>YRWfe+n58ojCb4;8(c>Y;teo4<%CnaW{nKf}yUkUUR79Y~)2pC*M7n!I1 z1p+!XWe`b?D9Bt+)E)~0f*Vqp<3(nmwQ74wX$k4))iwiD9zo({u4BuSKQ)G{kc-VftkXIIAEslaHT}}pDShL`rmM+bZ_d8tx8PeG8f=V z8CierFt}3c1ragn%c?!bogsKtOFY(-&DWaWyvcIaLq_UrYZrp!3hA$K48aUMQnll* zH;Fw=s+NzG9^CR(PM)6G5pV3fhL6FVpS^)O3w$Y@0$GbyS7$>OG!NES^ENN2xdZ5g zGd2-uEKCeQ1j0iD8pUdKNx&0p+<03_zPn@#GsUq9KwepV)WoHG=f(zU#>BBPzDrG< z*S&i)U9eYs0Ws)EN2M$841y;SQ~eiy>9wxu)%gbV?y#O zdtOxA813P72OG^mQ?N)(wqo6Vgd*EGs1&x6qpo$BRS*y4nx$B+nmJA=Q06%R!P;BC z@~_igcMLB5M|`GB23NZHFOIHXJGf$pb5kI*#uYs0&dFYlc_!fJ<7RD1X01UwR4>&Y zuege7_O($bUZ2e^%=!RIy}1MWx)GHAU|){|_(6qB$Ww~v+xUEv`_(0?(o~F#TmA!e WBzsu_(nVJQ0000 + + + + + + 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:792118067.1 %
Date:2024-10-08 22:31:24Functions:3838100.0 %
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::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::elandSrv()1
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::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::callbackMinHeightCheck(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()2
mrs_uav_managers::uav_manager::UavManager::landSrv()5
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()7
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()9
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)17
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()20
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)22
mrs_uav_managers::uav_manager::UavManager::ungripSrv()23
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)80
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)81
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()82
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)82
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)85
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)100
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)101
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::uav_manager::UavManager::initialize()108
mrs_uav_managers::uav_manager::UavManager::preinitialize()108
mrs_uav_managers::uav_manager::UavManager::onInit()108
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)127
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)151
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)211
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)212
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)283
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)774
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)986
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2215
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22288
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22357
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)56934
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)78776
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)172474
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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..6b8a8571e5 --- /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:792118067.1 %
Date:2024-10-08 22:31:24Functions:3838100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::uav_manager::UavManager::initialize()108
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()20
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)81
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::timerLanding(ros::TimerEvent const&)774
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)986
mrs_uav_managers::uav_manager::UavManager::preinitialize()108
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22357
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22288
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)22
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)283
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)172474
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)212
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2215
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)56934
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)78776
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)17
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()9
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)211
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)85
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()82
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)100
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)80
mrs_uav_managers::uav_manager::UavManager::callbackMinHeightCheck(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)101
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)151
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)127
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)82
mrs_uav_managers::uav_manager::UavManager::onInit()108
mrs_uav_managers::uav_manager::UavManager::landSrv()5
mrs_uav_managers::uav_manager::UavManager::elandSrv()1
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()7
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()2
mrs_uav_managers::uav_manager::UavManager::ungripSrv()23
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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..a7cf7ff814 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2786 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + + + + + + + +
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:792118067.1 %
Date:2024-10-08 22:31:24Functions:3838100.0 %
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             :   GOTO_STATE,
+      73             :   LANDING_STATE,
+      74             : 
+      75             : } LandingStates_t;
+      76             : 
+      77             : const char* state_names[3] = {
+      78             : 
+      79             :     "IDLING", "GOTO", "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             :   ros::ServiceServer service_server_min_height_check_;
+     139             : 
+     140             :   // service callbacks
+     141             :   bool callbackTakeoff(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     142             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     143             :   bool callbackLandHome(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     144             :   bool callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     145             : 
+     146             :   // service clients
+     147             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>                sch_takeoff_;
+     148             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_tracker_;
+     149             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_controller_;
+     150             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_land_;
+     151             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_eland_;
+     152             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ehover_;
+     153             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_control_callbacks_;
+     154             :   mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> sch_emergency_reference_;
+     155             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_arm_;
+     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             :   bool offboardSrv(const bool in);
+     175             : 
+     176             :   ros::Timer timer_takeoff_;
+     177             :   ros::Timer timer_max_height_;
+     178             :   ros::Timer timer_min_height_;
+     179             :   ros::Timer timer_landing_;
+     180             :   ros::Timer timer_maxthrottle_;
+     181             :   ros::Timer timer_flighttime_;
+     182             :   ros::Timer timer_diagnostics_;
+     183             :   ros::Timer timer_midair_activation_;
+     184             : 
+     185             :   // timer callbacks
+     186             :   void timerLanding(const ros::TimerEvent& event);
+     187             :   void timerTakeoff(const ros::TimerEvent& event);
+     188             :   void timerMaxHeight(const ros::TimerEvent& event);
+     189             :   void timerMinHeight(const ros::TimerEvent& event);
+     190             :   void timerFlightTime(const ros::TimerEvent& event);
+     191             :   void timerMaxthrottle(const ros::TimerEvent& event);
+     192             :   void timerDiagnostics(const ros::TimerEvent& event);
+     193             : 
+     194             :   // publishers
+     195             :   mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics> ph_diag_;
+     196             : 
+     197             :   // max height checking
+     198             :   bool              _max_height_enabled_ = false;
+     199             :   double            _max_height_checking_rate_;
+     200             :   double            _max_height_offset_;
+     201             :   std::atomic<bool> fixing_max_height_ = false;
+     202             : 
+     203             :   // min height checking
+     204             :   std::atomic<bool> min_height_check_ = false;
+     205             :   double            _min_height_checking_rate_;
+     206             :   double            _min_height_offset_;
+     207             :   double            _min_height_;
+     208             :   std::atomic<bool> fixing_min_height_ = false;
+     209             : 
+     210             :   // mass estimation during landing
+     211             :   double    throttle_mass_estimate_;
+     212             :   bool      throttle_under_threshold_ = false;
+     213             :   ros::Time throttle_mass_estimate_first_time_;
+     214             : 
+     215             :   // velocity during landing
+     216             :   bool      velocity_under_threshold_ = false;
+     217             :   ros::Time velocity_under_threshold_first_time_;
+     218             : 
+     219             :   bool _gain_manager_required_       = false;
+     220             :   bool _constraint_manager_required_ = false;
+     221             : 
+     222             :   std::tuple<bool, std::string> landImpl(void);
+     223             :   std::tuple<bool, std::string> landWithDescendImpl(void);
+     224             :   std::tuple<bool, std::string> midairActivationImpl(void);
+     225             : 
+     226             :   // saved takeoff coordinates and allows to land there again
+     227             :   mrs_msgs::ReferenceStamped land_there_reference_;
+     228             :   std::mutex                 mutex_land_there_reference_;
+     229             : 
+     230             :   // to which height to takeoff
+     231             :   double _takeoff_height_;
+     232             : 
+     233             :   std::atomic<bool> takeoff_successful_ = false;
+     234             : 
+     235             :   // names of important trackers
+     236             :   std::string _null_tracker_name_;
+     237             : 
+     238             :   // takeoff timer
+     239             :   double     _takeoff_timer_rate_;
+     240             :   bool       takingoff_            = false;
+     241             :   int        number_of_takeoffs_   = 0;
+     242             :   double     last_mass_difference_ = 0;
+     243             :   std::mutex mutex_last_mass_difference_;
+     244             :   bool       waiting_for_takeoff_ = false;
+     245             : 
+     246             :   // after takeoff
+     247             :   std::string _after_takeoff_tracker_name_;
+     248             :   std::string _after_takeoff_controller_name_;
+     249             :   std::string _takeoff_tracker_name_;
+     250             :   std::string _takeoff_controller_name_;
+     251             : 
+     252             :   // Landing timer
+     253             :   std::string _landing_tracker_name_;
+     254             :   std::string _landing_controller_name_;
+     255             :   double      _landing_cutoff_mass_factor_;
+     256             :   double      _landing_cutoff_mass_timeout_;
+     257             :   double      _landing_timer_rate_;
+     258             :   double      _landing_descend_height_;
+     259             :   bool        landing_ = false;
+     260             :   double      _uav_mass_;
+     261             :   double      _g_;
+     262             :   double      landing_uav_mass_;
+     263             :   bool        _landing_disarm_ = false;
+     264             :   double      _landing_tracking_tolerance_translation_;
+     265             :   double      _landing_tracking_tolerance_heading_;
+     266             : 
+     267             :   // diagnostics timer
+     268             :   double _diagnostics_timer_rate_;
+     269             : 
+     270             :   mrs_lib::quadratic_throttle_model::MotorParams_t _throttle_model_;
+     271             : 
+     272             :   // landing state machine states
+     273             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     274             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     275             : 
+     276             :   // timer for checking max flight time
+     277             :   double     _flighttime_timer_rate_;
+     278             :   double     _flighttime_max_time_;
+     279             :   bool       _flighttime_timer_enabled_ = false;
+     280             :   double     flighttime_                = 0;
+     281             :   std::mutex mutex_flighttime_;
+     282             : 
+     283             :   // timer for checking maximum throttle
+     284             :   bool      _maxthrottle_timer_enabled_ = false;
+     285             :   double    _maxthrottle_timer_rate_;
+     286             :   double    _maxthrottle_max_throttle_;
+     287             :   double    _maxthrottle_eland_timeout_;
+     288             :   double    _maxthrottle_ungrip_timeout_;
+     289             :   bool      maxthrottle_above_threshold_ = false;
+     290             :   ros::Time maxthrottle_first_time_;
+     291             : 
+     292             :   // profiler
+     293             :   mrs_lib::Profiler profiler_;
+     294             :   bool              _profiler_enabled_ = false;
+     295             : 
+     296             :   // midair activation
+     297             :   void      timerMidairActivation(const ros::TimerEvent& event);
+     298             :   bool      callbackMidairActivation(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     299             :   ros::Time midair_activation_started_;
+     300             : 
+     301             :   bool callbackMinHeightCheck(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     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         108 : void UavManager::onInit() {
+     317         108 :   preinitialize();
+     318         108 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324         108 : void UavManager::preinitialize(void) {
+     325             : 
+     326         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328         108 :   ros::Time::waitForValid();
+     329             : 
+     330         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331         108 :   shopts.nh                 = nh_;
+     332         108 :   shopts.node_name          = "UavManager";
+     333         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334         108 :   shopts.threadsafe         = true;
+     335         108 :   shopts.autostart          = true;
+     336         108 :   shopts.queue_size         = 10;
+     337         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339         108 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341         108 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342         108 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348         108 : void UavManager::initialize() {
+     349             : 
+     350         108 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         216 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         216 :   std::string custom_config_path;
+     355         216 :   std::string platform_config_path;
+     356         216 :   std::string world_config_path;
+     357             : 
+     358         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     359         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     360         108 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362         108 :   if (custom_config_path != "") {
+     363         108 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366         108 :   if (platform_config_path != "") {
+     367         108 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370         108 :   if (world_config_path != "") {
+     371         108 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374         108 :   param_loader.addYamlFileFromParam("private_config");
+     375         108 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         216 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     381         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382         108 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383         108 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386         108 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387         108 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388         108 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390         108 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392         108 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393         108 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394         108 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395         108 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     396         108 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     397         108 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     398             : 
+     399         108 :   if (_takeoff_height_ < 0.5 || _takeoff_height_ > 10.0) {
+     400           0 :     ROS_ERROR("[UavManager]: the takeoff height (%.2f m) has to be between 0.5 and 10 meters", _takeoff_height_);
+     401           0 :     ros::shutdown();
+     402             :   }
+     403             : 
+     404         108 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     405         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     406         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     407         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     408         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     409         108 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     410         108 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     411         108 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     412         108 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     413             : 
+     414         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     415         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     416         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     417         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     418         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     419             : 
+     420         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     421         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     422         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     423             : 
+     424             :   {
+     425             :     bool tmp;
+     426             : 
+     427         108 :     param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", tmp);
+     428             : 
+     429         108 :     min_height_check_ = tmp;
+     430             :   }
+     431             : 
+     432         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     433         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     434         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     435             : 
+     436         108 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     437         108 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     438             : 
+     439         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     440         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     441         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     442             : 
+     443         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     444         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     445         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     446         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     447         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     448             : 
+     449         108 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     450             : 
+     451             :   // | ------------------- scope timer logger ------------------- |
+     452             : 
+     453         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     454         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     455         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     456             : 
+     457         108 :   if (!param_loader.loadedSuccessfully()) {
+     458           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     459           0 :     ros::shutdown();
+     460             :   }
+     461             : 
+     462             :   // | --------------------- tf transformer --------------------- |
+     463             : 
+     464         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     465         108 :   transformer_->setDefaultPrefix(_uav_name_);
+     466         108 :   transformer_->retryLookupNewest(true);
+     467             : 
+     468             :   // | ----------------------- subscribers ---------------------- |
+     469             : 
+     470         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     471         108 :   shopts.nh                 = nh_;
+     472         108 :   shopts.node_name          = "UavManager";
+     473         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     474         108 :   shopts.threadsafe         = true;
+     475         108 :   shopts.autostart          = true;
+     476         108 :   shopts.queue_size         = 10;
+     477         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     478             : 
+     479         108 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     480         108 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     481         108 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     482         108 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     483         108 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     484         108 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     485         108 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     486         108 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     487         108 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     488         108 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     489         108 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     490         108 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     491         108 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     492             : 
+     493             :   // | ----------------------- publishers ----------------------- |
+     494             : 
+     495         108 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     496             : 
+     497             :   // | --------------------- service servers -------------------- |
+     498             : 
+     499         108 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     500         108 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     501         108 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     502         108 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     503         108 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     504         108 :   service_server_min_height_check_  = nh_.advertiseService("enable_min_height_check_in", &UavManager::callbackMinHeightCheck, this);
+     505             : 
+     506             :   // | --------------------- service clients -------------------- |
+     507             : 
+     508         108 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     509         108 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     510         108 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     511         108 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     512         108 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     513         108 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     514         108 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     515         108 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     516         108 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     517         108 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     518         108 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     519         108 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     520         108 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     521             : 
+     522             :   // | ---------------------- state machine --------------------- |
+     523             : 
+     524         108 :   current_state_landing_ = IDLE_STATE;
+     525             : 
+     526             :   // | ------------------------ profiler ------------------------ |
+     527             : 
+     528         108 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     529             : 
+     530             :   // | ------------------------- timers ------------------------- |
+     531             : 
+     532         108 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     533         108 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     534         108 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     535         108 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     536         108 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     537         216 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     538         216 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     539         216 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     540         216 :                                       min_height_check_ && hw_api_capabilities_.produces_distance_sensor);
+     541             : 
+     542         105 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     543         213 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     544             : 
+     545             :   timer_maxthrottle_ =
+     546         108 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     547             : 
+     548             :   // | ----------------------- finish init ---------------------- |
+     549             : 
+     550         108 :   is_initialized_ = true;
+     551             : 
+     552         108 :   ROS_INFO("[UavManager]: initialized");
+     553             : 
+     554         108 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     555         108 : }
+     556             : 
+     557             : //}
+     558             : 
+     559             : //}
+     560             : 
+     561             : // | ---------------------- state machine --------------------- |
+     562             : 
+     563             : /* //{ changeLandingState() */
+     564             : 
+     565          17 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     566             : 
+     567          17 :   previous_state_landing_ = current_state_landing_;
+     568          17 :   current_state_landing_  = new_state;
+     569             : 
+     570          17 :   switch (current_state_landing_) {
+     571             : 
+     572           5 :     case LANDING_STATE: {
+     573             : 
+     574           5 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     575             : 
+     576             :         // copy member variables
+     577           5 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     578             : 
+     579           5 :         landing_uav_mass_ = mass_esimtate->data;
+     580             :       }
+     581             : 
+     582           5 :       break;
+     583             :     };
+     584             : 
+     585          12 :     default: {
+     586          12 :       break;
+     587             :     }
+     588             :   }
+     589             : 
+     590             :   // just for ROS_INFO
+     591          17 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     592          17 : }
+     593             : 
+     594             : //}
+     595             : 
+     596             : // --------------------------------------------------------------
+     597             : // |                           timers                           |
+     598             : // --------------------------------------------------------------
+     599             : 
+     600             : /* timerHwApiCapabilities() //{ */
+     601             : 
+     602         151 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     603             : 
+     604         302 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     605         302 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     606             : 
+     607         151 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     608          43 :     ROS_INFO_THROTTLE(1.0, "[UavManager]: waiting for HW API capabilities");
+     609          43 :     return;
+     610             :   }
+     611             : 
+     612         108 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     613             : 
+     614         108 :   ROS_INFO("[UavManager]: got HW API capabilities, initializing");
+     615             : 
+     616         108 :   initialize();
+     617             : 
+     618         108 :   timer_hw_api_capabilities_.stop();
+     619             : }
+     620             : 
+     621             : //}
+     622             : 
+     623             : /* //{ timerLanding() */
+     624             : 
+     625         774 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     626             : 
+     627         774 :   if (!is_initialized_)
+     628           0 :     return;
+     629             : 
+     630        1548 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     631        1548 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     632             : 
+     633         774 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     634             : 
+     635             :   // copy member variables
+     636         774 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     637         774 :   auto odometry                    = sh_odometry_.getMsg();
+     638         774 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     639             : 
+     640         774 :   std::optional<double> desired_throttle;
+     641             : 
+     642         774 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     643         774 :     desired_throttle = sh_throttle_.getMsg()->data;
+     644             :   }
+     645             : 
+     646         774 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     647             : 
+     648         774 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     649             : 
+     650         774 :   if (res) {
+     651         774 :     land_there_current_frame = res.value();
+     652             :   } else {
+     653             : 
+     654           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     655           0 :     return;
+     656             :   }
+     657             : 
+     658         774 :   if (current_state_landing_ == IDLE_STATE) {
+     659             : 
+     660           0 :     return;
+     661             : 
+     662         774 :   } else if (current_state_landing_ == GOTO_STATE) {
+     663             : 
+     664         344 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     665         344 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     666             : 
+     667         344 :     double pos_heading = tracker_cmd->heading;
+     668             : 
+     669         344 :     double ref_heading = 0;
+     670             :     try {
+     671         344 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     672             :     }
+     673           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     674           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     675           0 :       return;
+     676             :     }
+     677             : 
+     678         351 :     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_ &&
+     679           7 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     680             : 
+     681          14 :       auto [success, message] = landWithDescendImpl();
+     682             : 
+     683           7 :       if (!success) {
+     684             : 
+     685           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     686             :       }
+     687             : 
+     688         337 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     689             : 
+     690           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     691             : 
+     692           0 :       mrs_msgs::ReferenceStamped reference_out;
+     693             : 
+     694             :       {
+     695           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     696             : 
+     697             :         // get the current altitude in land_there_reference_.header.frame_id;
+     698           0 :         geometry_msgs::PoseStamped current_pose;
+     699           0 :         current_pose.header.stamp     = ros::Time::now();
+     700           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     701           0 :         current_pose.pose.position.x  = 0;
+     702           0 :         current_pose.pose.position.y  = 0;
+     703           0 :         current_pose.pose.position.z  = 0;
+     704           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     705             : 
+     706           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     707             : 
+     708           0 :         if (response) {
+     709             : 
+     710           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     711           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     712             : 
+     713             :         } else {
+     714             : 
+     715           0 :           std::stringstream ss;
+     716           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     717           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     718             :         }
+     719             : 
+     720           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     721           0 :         reference_out.header.stamp    = ros::Time::now();
+     722           0 :         reference_out.reference       = land_there_reference_.reference;
+     723             :       }
+     724             : 
+     725           0 :       emergencyReferenceSrv(reference_out);
+     726             :     }
+     727             : 
+     728         430 :   } else if (current_state_landing_ == LANDING_STATE) {
+     729             : 
+     730             :     // we should not attempt to finish the landing if some other tracked was activated
+     731         430 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     732             : 
+     733         430 :       if (desired_throttle) {
+     734             : 
+     735             :         // recalculate the mass based on the throttle
+     736         430 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     737         430 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     738             : 
+     739             :         // condition for automatic motor turn off
+     740         430 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     741             : 
+     742         110 :           if (!throttle_under_threshold_) {
+     743             : 
+     744           5 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     745           5 :             throttle_under_threshold_          = true;
+     746             :           }
+     747             : 
+     748         110 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     749             : 
+     750             :         } else {
+     751             : 
+     752         320 :           throttle_under_threshold_ = false;
+     753             :         }
+     754             : 
+     755         430 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     756             : 
+     757           5 :           switchTrackerSrv(_null_tracker_name_);
+     758             : 
+     759           5 :           setControlCallbacksSrv(true);
+     760             : 
+     761           5 :           if (_landing_disarm_) {
+     762             : 
+     763           5 :             ROS_INFO("[UavManager]: disarming after landing");
+     764             : 
+     765           5 :             disarmSrv();
+     766             :           }
+     767             : 
+     768           5 :           changeLandingState(IDLE_STATE);
+     769             : 
+     770           5 :           ROS_INFO("[UavManager]: landing finished");
+     771             : 
+     772           5 :           timer_landing_.stop();
+     773             :         }
+     774             : 
+     775             :       } else {
+     776             : 
+     777           0 :         auto odometry = sh_odometry_.getMsg();
+     778             : 
+     779           0 :         double z_vel = odometry->twist.twist.linear.z;
+     780             : 
+     781           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     782             : 
+     783             :         // condition for automatic motor turn off
+     784           0 :         if (z_vel > -0.1) {
+     785             : 
+     786           0 :           if (!velocity_under_threshold_) {
+     787             : 
+     788           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     789           0 :             velocity_under_threshold_            = true;
+     790             :           }
+     791             : 
+     792           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     793             : 
+     794             :         } else {
+     795             : 
+     796           0 :           velocity_under_threshold_ = false;
+     797             :         }
+     798             : 
+     799           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     800             : 
+     801           0 :           switchTrackerSrv(_null_tracker_name_);
+     802             : 
+     803           0 :           setControlCallbacksSrv(true);
+     804             : 
+     805           0 :           if (_landing_disarm_) {
+     806             : 
+     807           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     808             : 
+     809           0 :             disarmSrv();
+     810             :           }
+     811             : 
+     812           0 :           changeLandingState(IDLE_STATE);
+     813             : 
+     814           0 :           ROS_INFO("[UavManager]: landing finished");
+     815             : 
+     816           0 :           timer_landing_.stop();
+     817             :         }
+     818             :       }
+     819             : 
+     820             :     } else {
+     821             : 
+     822           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     823             :     }
+     824             :   }
+     825             : }
+     826             : 
+     827             : //}
+     828             : 
+     829             : /* //{ timerTakeoff() */
+     830             : 
+     831         986 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     832             : 
+     833         986 :   if (!is_initialized_)
+     834           0 :     return;
+     835             : 
+     836        1972 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     837        1972 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     838             : 
+     839         986 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     840             : 
+     841         986 :   if (waiting_for_takeoff_) {
+     842             : 
+     843          20 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     844             : 
+     845          20 :       waiting_for_takeoff_ = false;
+     846             :     } else {
+     847             : 
+     848           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     849           0 :       return;
+     850             :     }
+     851             :   }
+     852             : 
+     853         986 :   if (takingoff_) {
+     854             : 
+     855         986 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     856             : 
+     857          20 :       auto [odom_x, odom_y, odom_z] = mrs_lib::getPosition(sh_odometry_.getMsg());
+     858             : 
+     859             :       double odom_heading;
+     860             :       try {
+     861          20 :         odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+     862             :       }
+     863           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     864           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     865           0 :         return;
+     866             :       }
+     867             :       // this is needed for land_home to work with vins_kickoff estimator
+     868             :       // if there are any problems with this, it shoud be sufficient to only overwrite the frame_id, without the position and heading here
+     869             :       {
+     870          20 :         std::scoped_lock lock(mutex_land_there_reference_);
+     871          20 :         land_there_reference_.header               = sh_odometry_.getMsg()->header;
+     872          20 :         land_there_reference_.reference.position.x = odom_x;
+     873          20 :         land_there_reference_.reference.position.y = odom_y;
+     874          20 :         land_there_reference_.reference.position.z = odom_z;
+     875          20 :         land_there_reference_.reference.heading    = odom_heading;
+     876             :       }
+     877             : 
+     878          20 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     879             : 
+     880          20 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     881             : 
+     882          20 :       switchControllerSrv(_after_takeoff_controller_name_);
+     883             : 
+     884          20 :       setOdometryCallbacksSrv(true);
+     885             : 
+     886          20 :       timer_takeoff_.stop();
+     887             :     }
+     888             :   }
+     889             : }
+     890             : 
+     891             : //}
+     892             : 
+     893             : /* //{ timerMaxHeight() */
+     894             : 
+     895       22357 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     896             : 
+     897       22357 :   if (!is_initialized_)
+     898       14614 :     return;
+     899             : 
+     900       44714 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     901       44714 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     902             : 
+     903       22357 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     904        7958 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     905        7958 :     return;
+     906             :   }
+     907             : 
+     908       14399 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     909             : 
+     910       14399 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     911        6656 :     return;
+     912             :   }
+     913             : 
+     914        7743 :   auto   odometry = sh_odometry_.getMsg();
+     915        7743 :   double height   = sh_height_.getMsg()->value;
+     916             : 
+     917             :   // transform max z to the height frame
+     918        7743 :   geometry_msgs::PointStamped point;
+     919        7743 :   point.header  = sh_max_height_.getMsg()->header;
+     920        7743 :   point.point.z = sh_max_height_.getMsg()->value;
+     921             : 
+     922        7743 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     923             : 
+     924             :   double max_z_in_height;
+     925             : 
+     926        7743 :   if (res) {
+     927        7743 :     max_z_in_height = res->point.z;
+     928             :   } else {
+     929           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     930           0 :     return;
+     931             :   }
+     932             : 
+     933        7743 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     934             : 
+     935        7743 :   double odometry_heading = 0;
+     936             :   try {
+     937        7743 :     odometry_heading = mrs_lib::getHeading(odometry);
+     938             :   }
+     939           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     940           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     941           0 :     return;
+     942             :   }
+     943             : 
+     944        7743 :   if (height > max_z_in_height) {
+     945             : 
+     946          53 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     947             : 
+     948         106 :     mrs_msgs::ReferenceStamped reference_out;
+     949          53 :     reference_out.header.frame_id = odometry->header.frame_id;
+     950          53 :     reference_out.header.stamp    = ros::Time::now();
+     951             : 
+     952          53 :     reference_out.reference.position.x = odometry_x;
+     953          53 :     reference_out.reference.position.y = odometry_y;
+     954          53 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     955             : 
+     956          53 :     reference_out.reference.heading = odometry_heading;
+     957             : 
+     958          53 :     setControlCallbacksSrv(false);
+     959             : 
+     960          53 :     bool success = emergencyReferenceSrv(reference_out);
+     961             : 
+     962          53 :     if (success) {
+     963             : 
+     964          53 :       ROS_INFO("[UavManager]: descending");
+     965             : 
+     966          53 :       fixing_max_height_ = true;
+     967             : 
+     968             :     } else {
+     969             : 
+     970           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     971             : 
+     972           0 :       setControlCallbacksSrv(true);
+     973             :     }
+     974             :   }
+     975             : 
+     976        7743 :   if (fixing_max_height_ && height < max_z_in_height) {
+     977             : 
+     978           1 :     setControlCallbacksSrv(true);
+     979             : 
+     980           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     981             : 
+     982           1 :     fixing_max_height_ = false;
+     983             :   }
+     984             : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ timerMinHeight() */
+     989             : 
+     990       22288 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     991             : 
+     992       22288 :   if (!is_initialized_)
+     993       14627 :     return;
+     994             : 
+     995       22288 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     996             : 
+     997       44576 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     998       44576 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     999             : 
+    1000       22288 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+    1001        7946 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+    1002        7946 :     return;
+    1003             :   }
+    1004             : 
+    1005       14342 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+    1006             : 
+    1007       14342 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+    1008        6681 :     return;
+    1009             :   }
+    1010             : 
+    1011        7661 :   auto   odometry = sh_odometry_.getMsg();
+    1012        7661 :   double height   = sh_height_.getMsg()->value;
+    1013             : 
+    1014        7661 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+    1015             : 
+    1016        7661 :   double odometry_heading = 0;
+    1017             : 
+    1018             :   try {
+    1019        7661 :     odometry_heading = mrs_lib::getHeading(odometry);
+    1020             :   }
+    1021           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1022           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1023           0 :     return;
+    1024             :   }
+    1025             : 
+    1026        7661 :   if (height < _min_height_) {
+    1027             : 
+    1028          40 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1029             : 
+    1030          80 :     mrs_msgs::ReferenceStamped reference_out;
+    1031          40 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1032          40 :     reference_out.header.stamp    = ros::Time::now();
+    1033             : 
+    1034          40 :     reference_out.reference.position.x = odometry_x;
+    1035          40 :     reference_out.reference.position.y = odometry_y;
+    1036          40 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1037             : 
+    1038          40 :     reference_out.reference.heading = odometry_heading;
+    1039             : 
+    1040          40 :     setControlCallbacksSrv(false);
+    1041             : 
+    1042          40 :     bool success = emergencyReferenceSrv(reference_out);
+    1043             : 
+    1044          40 :     if (success) {
+    1045             : 
+    1046          40 :       ROS_INFO("[UavManager]: ascending");
+    1047             : 
+    1048          40 :       fixing_min_height_ = true;
+    1049             : 
+    1050             :     } else {
+    1051             : 
+    1052           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1053             : 
+    1054           0 :       setControlCallbacksSrv(true);
+    1055             :     }
+    1056             :   }
+    1057             : 
+    1058        7661 :   if (fixing_min_height_ && height > _min_height_) {
+    1059             : 
+    1060           2 :     setControlCallbacksSrv(true);
+    1061             : 
+    1062           2 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1063             : 
+    1064           2 :     fixing_min_height_ = false;
+    1065             :   }
+    1066             : }
+    1067             : 
+    1068             : //}
+    1069             : 
+    1070             : /* //{ timerFlightTime() */
+    1071             : 
+    1072         283 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1073             : 
+    1074         283 :   if (!is_initialized_)
+    1075           0 :     return;
+    1076             : 
+    1077         849 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1078         849 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1079             : 
+    1080         283 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1081             : 
+    1082         283 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1083             : 
+    1084         283 :   mrs_msgs::Float64 flight_time;
+    1085         283 :   flight_time.value = flighttime;
+    1086             : 
+    1087             :   // if enabled, start the timer for measuring the flight time
+    1088         283 :   if (_flighttime_timer_enabled_) {
+    1089             : 
+    1090           0 :     if (flighttime > _flighttime_max_time_) {
+    1091             : 
+    1092           0 :       flighttime = 0;
+    1093           0 :       timer_flighttime_.stop();
+    1094             : 
+    1095           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1096             : 
+    1097           0 :       landImpl();
+    1098             :     }
+    1099             :   }
+    1100             : 
+    1101         283 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1102             : }
+    1103             : 
+    1104             : //}
+    1105             : 
+    1106             : /* //{ timerMaxthrottle() */
+    1107             : 
+    1108       56934 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1109             : 
+    1110       56934 :   if (!is_initialized_)
+    1111       17327 :     return;
+    1112             : 
+    1113       56934 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1114       17327 :     return;
+    1115             :   }
+    1116             : 
+    1117       39607 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1118             : 
+    1119      118821 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1120      118821 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1121             : 
+    1122       39607 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1123             : 
+    1124       39607 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1125             : 
+    1126          32 :     if (!maxthrottle_above_threshold_) {
+    1127             : 
+    1128           1 :       maxthrottle_first_time_      = ros::Time::now();
+    1129           1 :       maxthrottle_above_threshold_ = true;
+    1130           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1131             : 
+    1132             :     } else {
+    1133             : 
+    1134          31 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1135             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1136             :     }
+    1137             : 
+    1138             :   } else {
+    1139             : 
+    1140       39575 :     maxthrottle_above_threshold_ = false;
+    1141             :   }
+    1142             : 
+    1143       39607 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1144             : 
+    1145          16 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1146             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1147             : 
+    1148          16 :     ungripSrv();
+    1149             :   }
+    1150             : 
+    1151       39607 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1152             : 
+    1153           1 :     timer_maxthrottle_.stop();
+    1154             : 
+    1155           1 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1156             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1157             : 
+    1158           1 :     elandSrv();
+    1159             :   }
+    1160             : }
+    1161             : 
+    1162             : //}
+    1163             : 
+    1164             : /* //{ timerDiagnostics() */
+    1165             : 
+    1166        2215 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1167             : 
+    1168        2215 :   if (!is_initialized_)
+    1169           0 :     return;
+    1170             : 
+    1171        6645 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1172        6645 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1173             : 
+    1174        2215 :   bool got_gps_est = false;
+    1175        2215 :   bool got_rtk_est = false;
+    1176             : 
+    1177        2215 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1178             : 
+    1179        3690 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1180        1845 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1181             : 
+    1182        2247 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1183         402 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1184        1845 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1185             :   }
+    1186             : 
+    1187        4430 :   mrs_msgs::UavManagerDiagnostics diag;
+    1188             : 
+    1189        2215 :   diag.stamp    = ros::Time::now();
+    1190        2215 :   diag.uav_name = _uav_name_;
+    1191             : 
+    1192        2215 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1193             : 
+    1194             :   // fill in the acumulated flight time
+    1195        2215 :   diag.flight_time = flighttime;
+    1196             : 
+    1197        2215 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1198             : 
+    1199        1850 :     if (got_gps_est || got_rtk_est) {
+    1200             : 
+    1201        3634 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1202             : 
+    1203        3634 :       geometry_msgs::PoseStamped uav_pose;
+    1204        1817 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1205             : 
+    1206        5451 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1207             : 
+    1208        1817 :       if (res) {
+    1209        1817 :         diag.cur_latitude  = res.value().pose.position.x;
+    1210        1817 :         diag.cur_longitude = res.value().pose.position.y;
+    1211             :       }
+    1212             :     }
+    1213             :   }
+    1214             : 
+    1215        2215 :   if (takeoff_successful_) {
+    1216             : 
+    1217         326 :     if (got_gps_est || got_rtk_est) {
+    1218             : 
+    1219         652 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1220             : 
+    1221         978 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1222             : 
+    1223         326 :       if (res) {
+    1224         326 :         diag.home_latitude  = res.value().reference.position.x;
+    1225         326 :         diag.home_longitude = res.value().reference.position.y;
+    1226             :       }
+    1227             :     }
+    1228             :   }
+    1229             : 
+    1230        2215 :   ph_diag_.publish(diag);
+    1231             : }
+    1232             : 
+    1233             : //}
+    1234             : 
+    1235             : /* //{ timerMidairActivation() */
+    1236             : 
+    1237          80 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1238             : 
+    1239          80 :   if (!is_initialized_)
+    1240           0 :     return;
+    1241             : 
+    1242          80 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1243             : 
+    1244          80 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1245             : 
+    1246          80 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1247             : 
+    1248          80 :     setOdometryCallbacksSrv(true);
+    1249             : 
+    1250             :     {
+    1251          80 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1252             : 
+    1253          80 :       if (!controller_switched) {
+    1254             : 
+    1255           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1256             : 
+    1257           1 :         ehoverSrv();
+    1258             : 
+    1259           1 :         timer_midair_activation_.stop();
+    1260             : 
+    1261           1 :         return;
+    1262             :       }
+    1263             :     }
+    1264             : 
+    1265             :     {
+    1266          79 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1267             : 
+    1268          79 :       if (!tracker_switched) {
+    1269             : 
+    1270           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1271             : 
+    1272           1 :         ehoverSrv();
+    1273             : 
+    1274           1 :         timer_midair_activation_.stop();
+    1275             : 
+    1276           1 :         return;
+    1277             :       }
+    1278             :     }
+    1279             : 
+    1280          78 :     timer_midair_activation_.stop();
+    1281             : 
+    1282          78 :     return;
+    1283             :   }
+    1284             : 
+    1285           0 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1286             : 
+    1287           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1288             : 
+    1289           0 :     toggleControlOutput(false);
+    1290             : 
+    1291           0 :     timer_midair_activation_.stop();
+    1292             : 
+    1293           0 :     return;
+    1294             :   }
+    1295             : }
+    1296             : 
+    1297             : //}
+    1298             : 
+    1299             : // --------------------------------------------------------------
+    1300             : // |                          callbacks                         |
+    1301             : // --------------------------------------------------------------
+    1302             : 
+    1303             : // | --------------------- topic callbacks -------------------- |
+    1304             : 
+    1305             : /* //{ callbackHwApiGNSS() */
+    1306             : 
+    1307       78776 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1308             : 
+    1309       78776 :   if (!is_initialized_)
+    1310          30 :     return;
+    1311             : 
+    1312      236238 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1313      236238 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1314             : 
+    1315       78746 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1316             : }
+    1317             : 
+    1318             : //}
+    1319             : 
+    1320             : /* //{ callbackOdometry() */
+    1321             : 
+    1322      172474 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1323             : 
+    1324      172474 :   if (!is_initialized_)
+    1325           0 :     return;
+    1326             : 
+    1327      172474 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1328             : }
+    1329             : 
+    1330             : //}
+    1331             : 
+    1332             : // | -------------------- service callbacks ------------------- |
+    1333             : 
+    1334             : /* //{ callbackTakeoff() */
+    1335             : 
+    1336          22 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1337             : 
+    1338          22 :   if (!is_initialized_)
+    1339           0 :     return false;
+    1340             : 
+    1341          22 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1342             : 
+    1343             :   /* preconditions //{ */
+    1344             : 
+    1345             :   {
+    1346          22 :     std::stringstream ss;
+    1347             : 
+    1348          22 :     if (!sh_odometry_.hasMsg()) {
+    1349           0 :       ss << "can not takeoff, missing odometry!";
+    1350           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1351           0 :       res.message = ss.str();
+    1352           0 :       res.success = false;
+    1353           0 :       return true;
+    1354             :     }
+    1355             : 
+    1356          22 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1357           0 :       ss << "can not takeoff, missing HW API status!";
+    1358           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1359           0 :       res.message = ss.str();
+    1360           0 :       res.success = false;
+    1361           0 :       return true;
+    1362             :     }
+    1363             : 
+    1364          22 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1365           0 :       ss << "can not takeoff, UAV not armed!";
+    1366           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1367           0 :       res.message = ss.str();
+    1368           0 :       res.success = false;
+    1369           0 :       return true;
+    1370             :     }
+    1371             : 
+    1372          22 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1373           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1374           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1375           0 :       res.message = ss.str();
+    1376           0 :       res.success = false;
+    1377           0 :       return true;
+    1378             :     }
+    1379             : 
+    1380             :     {
+    1381          22 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1382           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1383           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1384           0 :         res.message = ss.str();
+    1385           0 :         res.success = false;
+    1386           0 :         return true;
+    1387             :       }
+    1388             : 
+    1389          22 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1390           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1391           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1392           0 :         res.message = ss.str();
+    1393           0 :         res.success = false;
+    1394           0 :         return true;
+    1395             :       }
+    1396             :     }
+    1397             : 
+    1398          22 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1399           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1400           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1401           0 :       res.message = ss.str();
+    1402           0 :       res.success = false;
+    1403           0 :       return true;
+    1404             :     }
+    1405             : 
+    1406          22 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1407           0 :       ss << "can not takeoff, GainManager is not running!";
+    1408           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1409           0 :       res.message = ss.str();
+    1410           0 :       res.success = false;
+    1411           0 :       return true;
+    1412             :     }
+    1413             : 
+    1414          22 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1415           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1416           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1417           0 :       res.message = ss.str();
+    1418           0 :       res.success = false;
+    1419           0 :       return true;
+    1420             :     }
+    1421             : 
+    1422          22 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1423             : 
+    1424           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1425           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1426           0 :       res.message = ss.str();
+    1427           0 :       res.success = false;
+    1428           0 :       return true;
+    1429             :     }
+    1430             : 
+    1431          22 :     if (number_of_takeoffs_ > 0) {
+    1432             : 
+    1433           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1434             : 
+    1435           0 :       if (last_mass_difference > 1.0) {
+    1436             : 
+    1437           0 :         ss << std::setprecision(2);
+    1438           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1439           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1440           0 :         res.message = ss.str();
+    1441           0 :         res.success = false;
+    1442           0 :         return true;
+    1443             :       }
+    1444             :     }
+    1445             :   }
+    1446             : 
+    1447             :   //}
+    1448             : 
+    1449          44 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1450          44 :   auto odometry                    = sh_odometry_.getMsg();
+    1451          22 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1452             : 
+    1453             :   double odom_heading;
+    1454             :   try {
+    1455          22 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1456             :   }
+    1457           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1458           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1459             : 
+    1460           0 :     std::stringstream ss;
+    1461           0 :     ss << "could not calculate current heading";
+    1462           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1463           0 :     res.message = ss.str();
+    1464           0 :     res.success = false;
+    1465           0 :     return true;
+    1466             :   }
+    1467             : 
+    1468          22 :   ROS_INFO("[UavManager]: taking off");
+    1469             : 
+    1470          22 :   setOdometryCallbacksSrv(false);
+    1471             : 
+    1472             :   // activating the takeoff controller
+    1473             :   {
+    1474          22 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1475          22 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1476             : 
+    1477             :     // if it fails, activate back the old controller
+    1478             :     // this is no big deal since the control outputs are not used
+    1479             :     // until NullTracker is active
+    1480          22 :     if (!controller_switched) {
+    1481             : 
+    1482           1 :       std::stringstream ss;
+    1483           1 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1484           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1485           1 :       res.success = false;
+    1486           1 :       res.message = ss.str();
+    1487             : 
+    1488           1 :       toggleControlOutput(false);
+    1489           1 :       disarmSrv();
+    1490             : 
+    1491           1 :       return true;
+    1492             :     }
+    1493             :   }
+    1494             : 
+    1495             :   // activate the takeoff tracker
+    1496             :   {
+    1497          21 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1498          21 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1499             : 
+    1500             :     // if it fails, activate back the old tracker
+    1501          21 :     if (!tracker_switched) {
+    1502             : 
+    1503           1 :       std::stringstream ss;
+    1504           1 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1505           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1506           1 :       res.success = false;
+    1507           1 :       res.message = ss.str();
+    1508             : 
+    1509           1 :       toggleControlOutput(false);
+    1510           1 :       disarmSrv();
+    1511             : 
+    1512           1 :       return true;
+    1513             :     }
+    1514             :   }
+    1515             : 
+    1516             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1517             :   // this solves on-time-happening race condition in the landoff tracker
+    1518          20 :   ros::Duration(0.3).sleep();
+    1519             : 
+    1520             :   // now the takeoff tracker and controller are active
+    1521             :   // the UAV is basically hovering on the ground
+    1522             :   // (the controller is probably rumping up the throttle now)
+    1523             : 
+    1524             :   // call the takeoff service at the takeoff tracker
+    1525             :   {
+    1526          20 :     bool takeoff_successful = takeoffSrv();
+    1527             : 
+    1528             :     // if the takeoff was not successful, switch to NullTracker
+    1529          20 :     if (takeoff_successful) {
+    1530             : 
+    1531             :       // save the current spot for later landing
+    1532             :       {
+    1533          20 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1534             : 
+    1535          20 :         land_there_reference_.header               = odometry->header;
+    1536          20 :         land_there_reference_.reference.position.x = odom_x;
+    1537          20 :         land_there_reference_.reference.position.y = odom_y;
+    1538          20 :         land_there_reference_.reference.position.z = odom_z;
+    1539          20 :         land_there_reference_.reference.heading    = odom_heading;
+    1540             :       }
+    1541             : 
+    1542          20 :       timer_flighttime_.start();
+    1543             : 
+    1544          40 :       std::stringstream ss;
+    1545          20 :       ss << "taking off";
+    1546          20 :       res.success = true;
+    1547          20 :       res.message = ss.str();
+    1548          20 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1549             : 
+    1550          20 :       takingoff_ = true;
+    1551          20 :       number_of_takeoffs_++;
+    1552          20 :       waiting_for_takeoff_ = true;
+    1553             : 
+    1554             :       // start the takeoff timer
+    1555          20 :       timer_takeoff_.start();
+    1556             : 
+    1557          20 :       takeoff_successful_ = takeoff_successful;
+    1558             : 
+    1559             :     } else {
+    1560             : 
+    1561           0 :       std::stringstream ss;
+    1562           0 :       ss << "takeoff was not successful";
+    1563           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1564           0 :       res.success = false;
+    1565           0 :       res.message = ss.str();
+    1566             : 
+    1567             :       // if the call for takeoff fails, call for emergency landing
+    1568           0 :       elandSrv();
+    1569             :     }
+    1570             :   }
+    1571             : 
+    1572          20 :   return true;
+    1573             : }
+    1574             : 
+    1575             : //}
+    1576             : 
+    1577             : /* //{ callbackLand() */
+    1578             : 
+    1579           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1580             : 
+    1581           2 :   if (!is_initialized_)
+    1582           0 :     return false;
+    1583             : 
+    1584           2 :   ROS_INFO("[UavManager]: land called by service");
+    1585             : 
+    1586             :   /* preconditions //{ */
+    1587             : 
+    1588             :   {
+    1589           2 :     std::stringstream ss;
+    1590             : 
+    1591           2 :     if (!sh_odometry_.hasMsg()) {
+    1592           0 :       ss << "can not land, missing odometry!";
+    1593           0 :       res.message = ss.str();
+    1594           0 :       res.success = false;
+    1595           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1596           0 :       return true;
+    1597             :     }
+    1598             : 
+    1599             :     {
+    1600           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1601           0 :         ss << "can not land, missing control manager diagnostics!";
+    1602           0 :         res.message = ss.str();
+    1603           0 :         res.success = false;
+    1604           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1605           0 :         return true;
+    1606             :       }
+    1607             : 
+    1608           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1609           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1610           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1611           0 :         res.message = ss.str();
+    1612           0 :         res.success = false;
+    1613           0 :         return true;
+    1614             :       }
+    1615             :     }
+    1616             : 
+    1617           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1618           0 :       ss << "can not land, missing controller diagnostics!";
+    1619           0 :       res.message = ss.str();
+    1620           0 :       res.success = false;
+    1621           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1622           0 :       return true;
+    1623             :     }
+    1624             : 
+    1625           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1626           0 :       ss << "can not land, missing position cmd!";
+    1627           0 :       res.message = ss.str();
+    1628           0 :       res.success = false;
+    1629           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1630           0 :       return true;
+    1631             :     }
+    1632             :   }
+    1633             : 
+    1634             :   //}
+    1635             : 
+    1636           2 :   auto [success, message] = landWithDescendImpl();
+    1637             : 
+    1638           2 :   res.message = message;
+    1639           2 :   res.success = success;
+    1640             : 
+    1641           2 :   return true;
+    1642             : }
+    1643             : 
+    1644             : //}
+    1645             : 
+    1646             : /* //{ callbackLandHome() */
+    1647             : 
+    1648           2 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1649             : 
+    1650           2 :   if (!is_initialized_)
+    1651           0 :     return false;
+    1652             : 
+    1653           2 :   ROS_INFO("[UavManager]: land home called by service");
+    1654             : 
+    1655             :   /* preconditions //{ */
+    1656             : 
+    1657             :   {
+    1658           2 :     std::stringstream ss;
+    1659             : 
+    1660           2 :     if (number_of_takeoffs_ == 0) {
+    1661           0 :       ss << "can not land home, did not takeoff before!";
+    1662           0 :       res.message = ss.str();
+    1663           0 :       res.success = false;
+    1664           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1665           0 :       return true;
+    1666             :     }
+    1667             : 
+    1668           2 :     if (!sh_odometry_.hasMsg()) {
+    1669           0 :       ss << "can not land, missing odometry!";
+    1670           0 :       res.message = ss.str();
+    1671           0 :       res.success = false;
+    1672           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1673           0 :       return true;
+    1674             :     }
+    1675             : 
+    1676             :     {
+    1677           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1678           0 :         ss << "can not land, missing tracker status!";
+    1679           0 :         res.message = ss.str();
+    1680           0 :         res.success = false;
+    1681           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1682           0 :         return true;
+    1683             :       }
+    1684             : 
+    1685           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1686           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1687           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1688           0 :         res.message = ss.str();
+    1689           0 :         res.success = false;
+    1690           0 :         return true;
+    1691             :       }
+    1692             :     }
+    1693             : 
+    1694           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1695           0 :       ss << "can not land, missing controller diagnostics command!";
+    1696           0 :       res.message = ss.str();
+    1697           0 :       res.success = false;
+    1698           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1699           0 :       return true;
+    1700             :     }
+    1701             : 
+    1702           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1703           0 :       ss << "can not land, missing position cmd!";
+    1704           0 :       res.message = ss.str();
+    1705           0 :       res.success = false;
+    1706           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1707           0 :       return true;
+    1708             :     }
+    1709             : 
+    1710           2 :     if (fixing_max_height_) {
+    1711           0 :       ss << "can not land, descedning to safe height!";
+    1712           0 :       res.message = ss.str();
+    1713           0 :       res.success = false;
+    1714           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1715           0 :       return true;
+    1716             :     }
+    1717             : 
+    1718           2 :     if (current_state_landing_ != IDLE_STATE) {
+    1719           0 :       ss << "can not land, already landing!";
+    1720           0 :       res.message = ss.str();
+    1721           0 :       res.success = false;
+    1722           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1723           0 :       return true;
+    1724             :     }
+    1725             :   }
+    1726             : 
+    1727             :   //}
+    1728             : 
+    1729           2 :   ungripSrv();
+    1730             : 
+    1731           4 :   mrs_msgs::ReferenceStamped reference_out;
+    1732             : 
+    1733             :   {
+    1734           2 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1735             : 
+    1736             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1737           2 :     geometry_msgs::PoseStamped current_pose;
+    1738           2 :     current_pose.header.stamp     = ros::Time::now();
+    1739           2 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1740           2 :     current_pose.pose.position.x  = 0;
+    1741           2 :     current_pose.pose.position.y  = 0;
+    1742           2 :     current_pose.pose.position.z  = 0;
+    1743           2 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1744             : 
+    1745           2 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1746             : 
+    1747           2 :     if (response) {
+    1748             : 
+    1749           2 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1750           2 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1751             : 
+    1752             :     } else {
+    1753             : 
+    1754           0 :       std::stringstream ss;
+    1755           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1756           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1757             : 
+    1758           0 :       res.success = false;
+    1759           0 :       res.message = ss.str();
+    1760           0 :       return true;
+    1761             :     }
+    1762             : 
+    1763           2 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1764           2 :     reference_out.header.stamp    = ros::Time::now();
+    1765           2 :     reference_out.reference       = land_there_reference_.reference;
+    1766             : 
+    1767           2 :     land_there_reference_ = reference_out;
+    1768             :   }
+    1769             : 
+    1770           2 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1771             : 
+    1772           2 :   if (service_success) {
+    1773             : 
+    1774           4 :     std::stringstream ss;
+    1775           2 :     ss << "flying home for landing";
+    1776           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1777             : 
+    1778           2 :     res.success = true;
+    1779           2 :     res.message = ss.str();
+    1780             : 
+    1781             :     // stop the eventual takeoff
+    1782           2 :     waiting_for_takeoff_ = false;
+    1783           2 :     takingoff_           = false;
+    1784           2 :     timer_takeoff_.stop();
+    1785             : 
+    1786           2 :     throttle_under_threshold_          = false;
+    1787           2 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1788             : 
+    1789           2 :     changeLandingState(GOTO_STATE);
+    1790             : 
+    1791           2 :     timer_landing_.start();
+    1792             : 
+    1793             :   } else {
+    1794             : 
+    1795           0 :     std::stringstream ss;
+    1796           0 :     ss << "can not fly home for landing";
+    1797           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1798             : 
+    1799           0 :     res.success = false;
+    1800           0 :     res.message = ss.str();
+    1801             :   }
+    1802             : 
+    1803           2 :   return true;
+    1804             : }
+    1805             : 
+    1806             : //}
+    1807             : 
+    1808             : /* //{ callbackLandThere() */
+    1809             : 
+    1810           1 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1811             : 
+    1812           1 :   if (!is_initialized_)
+    1813           0 :     return false;
+    1814             : 
+    1815           1 :   ROS_INFO("[UavManager]: land there called by service");
+    1816             : 
+    1817             :   /* preconditions //{ */
+    1818             : 
+    1819             :   {
+    1820           1 :     std::stringstream ss;
+    1821             : 
+    1822           1 :     if (!sh_odometry_.hasMsg()) {
+    1823           0 :       ss << "can not land, missing odometry!";
+    1824           0 :       res.message = ss.str();
+    1825           0 :       res.success = false;
+    1826           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1827           0 :       return true;
+    1828             :     }
+    1829             : 
+    1830             :     {
+    1831           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1832           0 :         ss << "can not land, missing tracker status!";
+    1833           0 :         res.message = ss.str();
+    1834           0 :         res.success = false;
+    1835           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1836           0 :         return true;
+    1837             :       }
+    1838             : 
+    1839           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1840           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1841           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1842           0 :         res.message = ss.str();
+    1843           0 :         res.success = false;
+    1844           0 :         return true;
+    1845             :       }
+    1846             :     }
+    1847             : 
+    1848           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1849           0 :       ss << "can not land, missing controller diagnostics!";
+    1850           0 :       res.message = ss.str();
+    1851           0 :       res.success = false;
+    1852           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1853           0 :       return true;
+    1854             :     }
+    1855             : 
+    1856           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1857           0 :       ss << "can not land, missing position cmd!";
+    1858           0 :       res.message = ss.str();
+    1859           0 :       res.success = false;
+    1860           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1861           0 :       return true;
+    1862             :     }
+    1863             : 
+    1864           1 :     if (fixing_max_height_) {
+    1865           0 :       ss << "can not land, descedning to safe height!";
+    1866           0 :       res.message = ss.str();
+    1867           0 :       res.success = false;
+    1868           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1869           0 :       return true;
+    1870             :     }
+    1871             :   }
+    1872             : 
+    1873             :   //}
+    1874             : 
+    1875           1 :   ungripSrv();
+    1876             : 
+    1877           2 :   auto odometry = sh_odometry_.getMsg();
+    1878             : 
+    1879             :   // | ------ transform the reference to the current frame ------ |
+    1880             : 
+    1881           2 :   mrs_msgs::ReferenceStamped reference_in;
+    1882           1 :   reference_in.header    = req.header;
+    1883           1 :   reference_in.reference = req.reference;
+    1884             : 
+    1885           2 :   auto result = transformer_->transformSingle(reference_in, odometry->header.frame_id);
+    1886             : 
+    1887           1 :   if (!result) {
+    1888           0 :     std::stringstream ss;
+    1889           0 :     ss << "can not transform the reference to the current control frame!";
+    1890           0 :     res.message = ss.str();
+    1891           0 :     res.success = false;
+    1892           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1893           0 :     return true;
+    1894             :   }
+    1895             : 
+    1896             :   {
+    1897           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1898             : 
+    1899           1 :     land_there_reference_.header               = odometry->header;
+    1900           1 :     land_there_reference_.reference            = reference_in.reference;
+    1901           1 :     land_there_reference_.reference.position.z = odometry->pose.pose.position.z;
+    1902             :   }
+    1903             : 
+    1904           1 :   bool service_success = emergencyReferenceSrv(land_there_reference_);
+    1905             : 
+    1906           1 :   if (service_success) {
+    1907             : 
+    1908           2 :     std::stringstream ss;
+    1909           1 :     ss << "flying there for landing";
+    1910           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1911             : 
+    1912           1 :     res.success = true;
+    1913           1 :     res.message = ss.str();
+    1914             : 
+    1915             :     // stop the eventual takeoff
+    1916           1 :     waiting_for_takeoff_ = false;
+    1917           1 :     takingoff_           = false;
+    1918           1 :     timer_takeoff_.stop();
+    1919             : 
+    1920           1 :     throttle_under_threshold_          = false;
+    1921           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1922             : 
+    1923           1 :     changeLandingState(GOTO_STATE);
+    1924             : 
+    1925           1 :     timer_landing_.start();
+    1926             : 
+    1927             :   } else {
+    1928             : 
+    1929           0 :     std::stringstream ss;
+    1930           0 :     ss << "can not fly there for landing";
+    1931           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1932             : 
+    1933           0 :     res.success = false;
+    1934           0 :     res.message = ss.str();
+    1935             :   }
+    1936             : 
+    1937           1 :   return true;
+    1938             : }
+    1939             : 
+    1940             : //}
+    1941             : 
+    1942             : /* //{ callbackMidairActivation() */
+    1943             : 
+    1944          82 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1945             : 
+    1946          82 :   if (!is_initialized_)
+    1947           0 :     return false;
+    1948             : 
+    1949          82 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1950             : 
+    1951             :   /* preconditions //{ */
+    1952             : 
+    1953             :   {
+    1954          82 :     std::stringstream ss;
+    1955             : 
+    1956          82 :     if (!sh_odometry_.hasMsg()) {
+    1957           0 :       ss << "can not activate, missing odometry!";
+    1958           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1959           0 :       res.message = ss.str();
+    1960           0 :       res.success = false;
+    1961           0 :       return true;
+    1962             :     }
+    1963             : 
+    1964          82 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1965           0 :       ss << "can not activate, missing HW API status!";
+    1966           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1967           0 :       res.message = ss.str();
+    1968           0 :       res.success = false;
+    1969           0 :       return true;
+    1970             :     }
+    1971             : 
+    1972          82 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1973           0 :       ss << "can not activate, UAV not armed!";
+    1974           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1975           0 :       res.message = ss.str();
+    1976           0 :       res.success = false;
+    1977           0 :       return true;
+    1978             :     }
+    1979             : 
+    1980          82 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1981           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1982           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1983           0 :       res.message = ss.str();
+    1984           0 :       res.success = false;
+    1985           0 :       return true;
+    1986             :     }
+    1987             : 
+    1988             :     {
+    1989          82 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1990           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1991           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1992           0 :         res.message = ss.str();
+    1993           0 :         res.success = false;
+    1994           0 :         return true;
+    1995             :       }
+    1996             : 
+    1997          82 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1998           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1999           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2000           0 :         res.message = ss.str();
+    2001           0 :         res.success = false;
+    2002           0 :         return true;
+    2003             :       }
+    2004             :     }
+    2005             : 
+    2006          82 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    2007           0 :       ss << "can not activate, missing controller diagnostics!";
+    2008           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2009           0 :       res.message = ss.str();
+    2010           0 :       res.success = false;
+    2011           0 :       return true;
+    2012             :     }
+    2013             : 
+    2014          82 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    2015           0 :       ss << "can not activate, GainManager is not running!";
+    2016           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2017           0 :       res.message = ss.str();
+    2018           0 :       res.success = false;
+    2019           0 :       return true;
+    2020             :     }
+    2021             : 
+    2022          82 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    2023           0 :       ss << "can not activate, ConstraintManager is not running!";
+    2024           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2025           0 :       res.message = ss.str();
+    2026           0 :       res.success = false;
+    2027           0 :       return true;
+    2028             :     }
+    2029             : 
+    2030          82 :     if (number_of_takeoffs_ > 0) {
+    2031           0 :       ss << "can not activate, we flew already!";
+    2032           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2033           0 :       res.message = ss.str();
+    2034           0 :       res.success = false;
+    2035           0 :       return true;
+    2036             :     }
+    2037             :   }
+    2038             : 
+    2039             :   //}
+    2040             : 
+    2041          82 :   auto [success, message] = midairActivationImpl();
+    2042             : 
+    2043          82 :   res.message = message;
+    2044          82 :   res.success = success;
+    2045             : 
+    2046          82 :   return true;
+    2047             : }
+    2048             : 
+    2049             : //}
+    2050             : 
+    2051             : /* //{ callbackMinHeightCheck() */
+    2052             : 
+    2053           2 : bool UavManager::callbackMinHeightCheck([[maybe_unused]] std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    2054             : 
+    2055           2 :   if (!is_initialized_)
+    2056           0 :     return false;
+    2057             : 
+    2058           2 :   min_height_check_ = req.data;
+    2059             : 
+    2060           2 :   std::stringstream ss;
+    2061             : 
+    2062           2 :   ss << "min height check " << (min_height_check_ ? "enabled" : "disabled");
+    2063             : 
+    2064           2 :   if (min_height_check_) {
+    2065           1 :     timer_min_height_.start();
+    2066             :   } else {
+    2067           1 :     timer_min_height_.stop();
+    2068             :   }
+    2069             : 
+    2070           2 :   ROS_INFO_STREAM("[UavManager]: " << ss.str());
+    2071             : 
+    2072           2 :   res.message = ss.str();
+    2073           2 :   res.success = true;
+    2074             : 
+    2075           2 :   return true;
+    2076             : }
+    2077             : 
+    2078             : //}
+    2079             : 
+    2080             : // | ------------------------ routines ------------------------ |
+    2081             : 
+    2082             : /* landImpl() //{ */
+    2083             : 
+    2084           5 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2085             : 
+    2086             :   // activating the landing controller
+    2087             :   {
+    2088           5 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2089           5 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2090             : 
+    2091             :     // if it fails, activate eland
+    2092             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2093             :     // just throw out error.
+    2094           5 :     if (!controller_switched) {
+    2095             : 
+    2096           0 :       std::stringstream ss;
+    2097           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2098           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2099             : 
+    2100           0 :       elandSrv();
+    2101             : 
+    2102           0 :       return std::tuple(false, ss.str());
+    2103             :     }
+    2104             :   }
+    2105             : 
+    2106             :   // activate the landing tracker
+    2107             :   {
+    2108           5 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2109           5 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2110             : 
+    2111             :     // if it fails, activate eland
+    2112             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2113             :     // just throw out error.
+    2114           5 :     if (!tracker_switched) {
+    2115             : 
+    2116           0 :       std::stringstream ss;
+    2117           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2118           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2119             : 
+    2120           0 :       elandSrv();
+    2121             : 
+    2122           0 :       return std::tuple(false, ss.str());
+    2123             :     }
+    2124             :   }
+    2125             : 
+    2126             :   // call the landing service
+    2127             :   {
+    2128           5 :     bool land_successful = landSrv();
+    2129             : 
+    2130           5 :     if (land_successful) {
+    2131             : 
+    2132             :       // stop the eventual takeoff
+    2133           5 :       waiting_for_takeoff_ = false;
+    2134           5 :       takingoff_           = false;
+    2135           5 :       timer_takeoff_.stop();
+    2136             : 
+    2137             :       // stop counting the flight time
+    2138           5 :       timer_flighttime_.stop();
+    2139             : 
+    2140          10 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2141             : 
+    2142             :       // remember the last valid mass estimated
+    2143             :       // used during subsequent takeoff
+    2144           5 :       if (controller_diagnostics->mass_estimator) {
+    2145           5 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2146             :       }
+    2147             : 
+    2148           5 :       setOdometryCallbacksSrv(false);
+    2149             : 
+    2150           5 :       changeLandingState(LANDING_STATE);
+    2151             : 
+    2152           5 :       throttle_under_threshold_          = false;
+    2153           5 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2154             : 
+    2155           5 :       timer_landing_.start();
+    2156             : 
+    2157           5 :       std::stringstream ss;
+    2158           5 :       ss << "landing initiated";
+    2159           5 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2160             : 
+    2161           5 :       return std::tuple(true, ss.str());
+    2162             : 
+    2163             :     } else {
+    2164             : 
+    2165           0 :       std::stringstream ss;
+    2166           0 :       ss << "could not land";
+    2167           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2168             : 
+    2169           0 :       elandSrv();
+    2170             : 
+    2171           0 :       return std::tuple(false, ss.str());
+    2172             :     }
+    2173             :   }
+    2174             : }
+    2175             : 
+    2176             : //}
+    2177             : 
+    2178             : /* landWithDescendImpl() //{ */
+    2179             : 
+    2180           9 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2181             : 
+    2182             :   // if the height information is available
+    2183           9 :   if (sh_height_.hasMsg()) {
+    2184             : 
+    2185           9 :     double height = sh_height_.getMsg()->value;
+    2186             : 
+    2187           9 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2188             : 
+    2189           4 :       auto odometry = sh_odometry_.getMsg();
+    2190             : 
+    2191           4 :       ungripSrv();
+    2192             : 
+    2193             :       {
+    2194           4 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2195             : 
+    2196             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2197           4 :         land_there_reference_.header.frame_id      = "";
+    2198           4 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2199           4 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2200           4 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2201           4 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2202           4 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2203             :       }
+    2204             : 
+    2205           4 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2206             : 
+    2207           4 :       if (service_success) {
+    2208             : 
+    2209           4 :         std::stringstream ss;
+    2210           4 :         ss << "flying down for landing";
+    2211           4 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2212             : 
+    2213             :         // stop the eventual takeoff
+    2214           4 :         waiting_for_takeoff_ = false;
+    2215           4 :         takingoff_           = false;
+    2216           4 :         timer_takeoff_.stop();
+    2217             : 
+    2218           4 :         changeLandingState(GOTO_STATE);
+    2219             : 
+    2220           4 :         throttle_under_threshold_          = false;
+    2221           4 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2222             : 
+    2223           4 :         timer_landing_.start();
+    2224             : 
+    2225           4 :         return std::tuple(true, ss.str());
+    2226             : 
+    2227             :       } else {
+    2228             : 
+    2229           0 :         std::stringstream ss;
+    2230           0 :         ss << "can not fly down for landing";
+    2231           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2232             :       }
+    2233             :     }
+    2234             :   }
+    2235             : 
+    2236          10 :   auto [success, message] = landImpl();
+    2237             : 
+    2238           5 :   return std::tuple(success, message);
+    2239             : }
+    2240             : 
+    2241             : //}
+    2242             : 
+    2243             : /* midairActivationImpl() //{ */
+    2244             : 
+    2245          82 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2246             : 
+    2247             :   // 1. activate the mid-air activation controller
+    2248             :   // the controller will output hover-like control output
+    2249         164 :   std::string old_controller;
+    2250             :   {
+    2251          82 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2252          82 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2253             : 
+    2254          82 :     if (!controller_switched) {
+    2255             : 
+    2256           0 :       std::stringstream ss;
+    2257           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2258           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2259             : 
+    2260           0 :       return std::tuple(false, ss.str());
+    2261             :     }
+    2262             :   }
+    2263             : 
+    2264             :   // 2. turn Control Manager's output ON
+    2265             :   {
+    2266          82 :     bool output_enabled = toggleControlOutput(true);
+    2267             : 
+    2268          82 :     if (!output_enabled) {
+    2269             : 
+    2270           1 :       switchControllerSrv(old_controller);
+    2271             : 
+    2272           1 :       std::stringstream ss;
+    2273           1 :       ss << "could not enable Control Manager's output";
+    2274           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2275             : 
+    2276           1 :       return std::tuple(false, ss.str());
+    2277             :     }
+    2278             :   }
+    2279             : 
+    2280             :   // 3. activate the mid-air activation tracker
+    2281             :   // this will cause the Control Manager to output something else than min-throttle
+    2282         162 :   std::string old_tracker;
+    2283             :   {
+    2284          81 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2285             : 
+    2286          81 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2287             : 
+    2288          81 :     if (!tracker_switched) {
+    2289             : 
+    2290           0 :       switchControllerSrv(old_controller);
+    2291           0 :       toggleControlOutput(false);
+    2292             : 
+    2293           0 :       std::stringstream ss;
+    2294           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2295           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2296             : 
+    2297           0 :       return std::tuple(false, ss.str());
+    2298             :     }
+    2299             :   }
+    2300             : 
+    2301             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2302          81 :   ros::Duration(0.05).sleep();
+    2303             : 
+    2304             :   // 5. turn on the OFFBOARD MODE
+    2305             :   // since now, the UAV should be under our control
+    2306             :   {
+    2307          81 :     bool offboard_set = offboardSrv(true);
+    2308             : 
+    2309          81 :     if (!offboard_set) {
+    2310             : 
+    2311           1 :       switchTrackerSrv(old_tracker);
+    2312           1 :       switchControllerSrv(old_controller);
+    2313           1 :       toggleControlOutput(false);
+    2314             : 
+    2315           1 :       std::stringstream ss;
+    2316           1 :       ss << "could not activate offboard mode";
+    2317           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2318             : 
+    2319           1 :       return std::tuple(false, ss.str());
+    2320             :     }
+    2321             :   }
+    2322             : 
+    2323             :   // remember this time, later check for timeout
+    2324          80 :   midair_activation_started_ = ros::Time::now();
+    2325             : 
+    2326             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2327          80 :   timer_midair_activation_.start();
+    2328             : 
+    2329          80 :   std::stringstream ss;
+    2330          80 :   ss << "midair activation initiated, starting the timer";
+    2331          80 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2332             : 
+    2333          80 :   return std::tuple(true, ss.str());
+    2334             : }
+    2335             : 
+    2336             : //}
+    2337             : 
+    2338             : // | ----------------- service client wrappers ---------------- |
+    2339             : 
+    2340             : /* setOdometryCallbacksSrv() //{ */
+    2341             : 
+    2342         127 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2343             : 
+    2344         127 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2345             : 
+    2346         254 :   std_srvs::SetBool srv;
+    2347             : 
+    2348         127 :   srv.request.data = input;
+    2349             : 
+    2350         127 :   bool res = sch_odometry_callbacks_.call(srv);
+    2351             : 
+    2352         127 :   if (res) {
+    2353             : 
+    2354         127 :     if (!srv.response.success) {
+    2355           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2356             :     }
+    2357             : 
+    2358             :   } else {
+    2359           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2360             :   }
+    2361         127 : }
+    2362             : 
+    2363             : //}
+    2364             : 
+    2365             : /* setControlCallbacksSrv() //{ */
+    2366             : 
+    2367         101 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2368             : 
+    2369         101 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2370             : 
+    2371         202 :   std_srvs::SetBool srv;
+    2372             : 
+    2373         101 :   srv.request.data = input;
+    2374             : 
+    2375         101 :   bool res = sch_control_callbacks_.call(srv);
+    2376             : 
+    2377         101 :   if (res) {
+    2378             : 
+    2379         101 :     if (!srv.response.success) {
+    2380           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2381             :     }
+    2382             : 
+    2383             :   } else {
+    2384           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2385             :   }
+    2386         101 : }
+    2387             : 
+    2388             : //}
+    2389             : 
+    2390             : /* ungripSrv() //{ */
+    2391             : 
+    2392          23 : void UavManager::ungripSrv(void) {
+    2393             : 
+    2394          23 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2395             : 
+    2396          46 :   std_srvs::Trigger srv;
+    2397             : 
+    2398          23 :   bool res = sch_ungrip_.call(srv);
+    2399             : 
+    2400          23 :   if (res) {
+    2401             : 
+    2402           0 :     if (!srv.response.success) {
+    2403           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2404             :     }
+    2405             : 
+    2406             :   } else {
+    2407          23 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2408             :   }
+    2409          23 : }
+    2410             : 
+    2411             : //}
+    2412             : 
+    2413             : /* toggleControlOutput() //{ */
+    2414             : 
+    2415          85 : bool UavManager::toggleControlOutput(const bool& input) {
+    2416             : 
+    2417          85 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2418             : 
+    2419         170 :   std_srvs::SetBool srv;
+    2420             : 
+    2421          85 :   srv.request.data = input;
+    2422             : 
+    2423          85 :   bool res = sch_toggle_control_output_.call(srv);
+    2424             : 
+    2425          85 :   if (res) {
+    2426             : 
+    2427          84 :     if (!srv.response.success) {
+    2428           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2429           0 :       return false;
+    2430             :     } else {
+    2431          84 :       return true;
+    2432             :     }
+    2433             : 
+    2434             :   } else {
+    2435           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2436           1 :     return false;
+    2437             :   }
+    2438             : }
+    2439             : 
+    2440             : //}
+    2441             : 
+    2442             : /* offboardSrv() //{ */
+    2443             : 
+    2444          81 : bool UavManager::offboardSrv(const bool in) {
+    2445             : 
+    2446          81 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2447             : 
+    2448         162 :   std_srvs::Trigger srv;
+    2449             : 
+    2450          81 :   bool res = sch_offboard_.call(srv);
+    2451             : 
+    2452          81 :   if (!res) {
+    2453             : 
+    2454           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2455           1 :     return false;
+    2456             : 
+    2457             :   } else {
+    2458             : 
+    2459          80 :     if (!srv.response.success) {
+    2460           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2461           0 :       return false;
+    2462             :     } else {
+    2463          80 :       return true;
+    2464             :     }
+    2465             :   }
+    2466             : }
+    2467             : 
+    2468             : //}
+    2469             : 
+    2470             : /* disarmSrv() //{ */
+    2471             : 
+    2472           7 : void UavManager::disarmSrv(void) {
+    2473             : 
+    2474          14 :   std_srvs::SetBool srv;
+    2475             : 
+    2476           7 :   srv.request.data = false;
+    2477             : 
+    2478           7 :   bool res = sch_arm_.call(srv);
+    2479             : 
+    2480           7 :   if (res) {
+    2481             : 
+    2482           7 :     if (!srv.response.success) {
+    2483           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2484             :     }
+    2485             : 
+    2486             :   } else {
+    2487           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2488             :   }
+    2489           7 : }
+    2490             : 
+    2491             : //}
+    2492             : 
+    2493             : /* switchControllerSrv() //{ */
+    2494             : 
+    2495         211 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2496             : 
+    2497         211 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2498             : 
+    2499         422 :   mrs_msgs::String srv;
+    2500         211 :   srv.request.value = controller;
+    2501             : 
+    2502         211 :   bool res = sch_switch_controller_.call(srv);
+    2503             : 
+    2504         211 :   if (res) {
+    2505             : 
+    2506         211 :     if (!srv.response.success) {
+    2507           2 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2508             :     }
+    2509             : 
+    2510         211 :     return srv.response.success;
+    2511             : 
+    2512             :   } else {
+    2513             : 
+    2514           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2515             : 
+    2516           0 :     return false;
+    2517             :   }
+    2518             : }
+    2519             : 
+    2520             : //}
+    2521             : 
+    2522             : /* switchTrackerSrv() //{ */
+    2523             : 
+    2524         212 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2525             : 
+    2526         212 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2527             : 
+    2528             : 
+    2529         424 :   mrs_msgs::String srv;
+    2530         212 :   srv.request.value = tracker;
+    2531             : 
+    2532         212 :   bool res = sch_switch_tracker_.call(srv);
+    2533             : 
+    2534         212 :   if (res) {
+    2535             : 
+    2536         212 :     if (!srv.response.success) {
+    2537           2 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2538             :     }
+    2539             : 
+    2540         212 :     return srv.response.success;
+    2541             : 
+    2542             :   } else {
+    2543             : 
+    2544           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2545             : 
+    2546           0 :     return false;
+    2547             :   }
+    2548             : }
+    2549             : 
+    2550             : //}
+    2551             : 
+    2552             : /* landSrv() //{ */
+    2553             : 
+    2554           5 : bool UavManager::landSrv(void) {
+    2555             : 
+    2556           5 :   ROS_INFO("[UavManager]: calling for landing");
+    2557             : 
+    2558          10 :   std_srvs::Trigger srv;
+    2559             : 
+    2560           5 :   bool res = sch_land_.call(srv);
+    2561             : 
+    2562           5 :   if (res) {
+    2563             : 
+    2564           5 :     if (!srv.response.success) {
+    2565           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2566             :     }
+    2567             : 
+    2568           5 :     return srv.response.success;
+    2569             : 
+    2570             :   } else {
+    2571             : 
+    2572           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2573             : 
+    2574           0 :     return false;
+    2575             :   }
+    2576             : }
+    2577             : 
+    2578             : //}
+    2579             : 
+    2580             : /* elandSrv() //{ */
+    2581             : 
+    2582           1 : bool UavManager::elandSrv(void) {
+    2583             : 
+    2584           1 :   ROS_INFO("[UavManager]: calling for eland");
+    2585             : 
+    2586           2 :   std_srvs::Trigger srv;
+    2587             : 
+    2588           1 :   bool res = sch_eland_.call(srv);
+    2589             : 
+    2590           1 :   if (res) {
+    2591             : 
+    2592           1 :     if (!srv.response.success) {
+    2593           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2594             :     }
+    2595             : 
+    2596           1 :     return srv.response.success;
+    2597             : 
+    2598             :   } else {
+    2599             : 
+    2600           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2601             : 
+    2602           0 :     return false;
+    2603             :   }
+    2604             : }
+    2605             : 
+    2606             : //}
+    2607             : 
+    2608             : /* ehoverSrv() //{ */
+    2609             : 
+    2610           2 : bool UavManager::ehoverSrv(void) {
+    2611             : 
+    2612           2 :   ROS_INFO("[UavManager]: calling for ehover");
+    2613             : 
+    2614           4 :   std_srvs::Trigger srv;
+    2615             : 
+    2616           2 :   bool res = sch_ehover_.call(srv);
+    2617             : 
+    2618           2 :   if (res) {
+    2619             : 
+    2620           2 :     if (!srv.response.success) {
+    2621           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2622             :     }
+    2623             : 
+    2624           2 :     return srv.response.success;
+    2625             : 
+    2626             :   } else {
+    2627             : 
+    2628           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2629             : 
+    2630           0 :     return false;
+    2631             :   }
+    2632             : }
+    2633             : 
+    2634             : //}
+    2635             : 
+    2636             : /* takeoffSrv() //{ */
+    2637             : 
+    2638          20 : bool UavManager::takeoffSrv(void) {
+    2639             : 
+    2640          20 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2641             : 
+    2642          40 :   mrs_msgs::Vec1 srv;
+    2643             : 
+    2644          20 :   srv.request.goal = _takeoff_height_;
+    2645             : 
+    2646          20 :   bool res = sch_takeoff_.call(srv);
+    2647             : 
+    2648          20 :   if (res) {
+    2649             : 
+    2650          20 :     if (!srv.response.success) {
+    2651           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2652             :     }
+    2653             : 
+    2654          20 :     return srv.response.success;
+    2655             : 
+    2656             :   } else {
+    2657             : 
+    2658           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2659             : 
+    2660           0 :     return false;
+    2661             :   }
+    2662             : }
+    2663             : 
+    2664             : //}
+    2665             : 
+    2666             : /* emergencyReferenceSrv() //{ */
+    2667             : 
+    2668         100 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2669             : 
+    2670         100 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2671             : 
+    2672         200 :   mrs_msgs::ReferenceStampedSrv srv;
+    2673             : 
+    2674         100 :   srv.request.header    = goal.header;
+    2675         100 :   srv.request.reference = goal.reference;
+    2676             : 
+    2677         100 :   bool res = sch_emergency_reference_.call(srv);
+    2678             : 
+    2679         100 :   if (res) {
+    2680             : 
+    2681         100 :     if (!srv.response.success) {
+    2682           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2683             :     }
+    2684             : 
+    2685         100 :     return srv.response.success;
+    2686             : 
+    2687             :   } else {
+    2688             : 
+    2689           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2690             : 
+    2691           0 :     return false;
+    2692             :   }
+    2693             : }
+    2694             : 
+    2695             : //}
+    2696             : 
+    2697             : }  // namespace uav_manager
+    2698             : 
+    2699             : }  // namespace mrs_uav_managers
+    2700             : 
+    2701             : #include <pluginlib/class_list_macros.h>
+    2702         108 : 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..be368f81e6 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,696 @@ + + + + + + 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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LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().287
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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..e6379a075c --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().287
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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..0487cc6491 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
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+       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          87 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          87 :   }
+      58             : 
+      59         174 :   ~GarminAgl(void) {
+      60         174 :   }
+      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
+
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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)202
mrs_uav_state_estimators::AltGeneric::~AltGeneric()202
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2202
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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)202
mrs_uav_state_estimators::AltGeneric::~AltGeneric()202
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2202
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Date:2024-10-08 22:31:24Functions:33100.0 %
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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 varstep_lkf_t = mrs_lib::varstepLKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      46             :   using A_t           = lkf_t::A_t;
+      47             :   using B_t           = lkf_t::B_t;
+      48             :   using H_t           = lkf_t::H_t;
+      49             :   using Q_t           = lkf_t::Q_t;
+      50             :   using x_t           = lkf_t::x_t;
+      51             :   using P_t           = lkf_t::P_t;
+      52             :   using u_t           = lkf_t::u_t;
+      53             :   using z_t           = lkf_t::z_t;
+      54             :   using R_t           = lkf_t::R_t;
+      55             :   using statecov_t    = lkf_t::statecov_t;
+      56             : 
+      57             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      58             : 
+      59             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      60             : 
+      61             : private:
+      62             :   std::string parent_state_est_name_;
+      63             : 
+      64             :   double                                      dt_;
+      65             :   double                                      input_coeff_, default_input_coeff_;
+      66             :   A_t                                         A_;
+      67             :   B_t                                         B_;
+      68             :   H_t                                         H_;
+      69             :   Q_t                                         Q_;
+      70             :   std::shared_ptr<lkf_t>                      lkf_;
+      71             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      72             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      73             :   mutable std::mutex                          mutex_lkf_;
+      74             :   statecov_t                                  sc_;
+      75             :   mutable std::mutex                          mutex_sc_;
+      76             : 
+      77             :   std::unique_ptr<drmgr_t> drmgr_;
+      78             :   void                     callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      79             : 
+      80             :   z_t                innovation_;
+      81             :   mutable std::mutex mtx_innovation_;
+      82             : 
+      83             :   bool          is_error_state_first_time_ = true;
+      84             :   ros::Duration error_state_duration_;
+      85             :   ros::Time     prev_time_in_error_state_;
+      86             : 
+      87             :   bool is_repredictor_enabled_;
+      88             :   int  rep_buffer_size_ = 200;
+      89             : 
+      90             :   const bool is_core_plugin_;
+      91             : 
+      92             :   std::vector<std::string>                                              correction_names_;
+      93             :   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
+      94             : 
+      95             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      96             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      97             :   std::atomic<bool>                                   is_input_ready_ = false;
+      98             : 
+      99             :   ros::Timer timer_update_;
+     100             :   void       timerUpdate(const ros::TimerEvent &event);
+     101             : 
+     102             :   ros::Timer timer_check_health_;
+     103             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     104             : 
+     105             :   void doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     106             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     107             : 
+     108             :   bool isConverged();
+     109             : 
+     110             :   Q_t                getQ();
+     111             :   mutable std::mutex mtx_Q_;
+     112             : 
+     113             : public:
+     114         202 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     115         202 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     116         202 :   }
+     117             : 
+     118         404 :   ~AltGeneric(void) {
+     119         404 :   }
+     120             : 
+     121             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     122             :   bool start(void) override;
+     123             :   bool pause(void) override;
+     124             :   bool reset(void) override;
+     125             : 
+     126             :   double getState(const int &state_idx_in) const override;
+     127             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     128             : 
+     129             :   void setState(const double &state_in, const int &state_idx_in) override;
+     130             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     131             : 
+     132             :   states_t getStates(void) const override;
+     133             :   void     setStates(const states_t &states_in) override;
+     134             : 
+     135             :   double getCovariance(const int &state_idx_in) const override;
+     136             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     137             : 
+     138             :   covariance_t getCovarianceMatrix(void) const override;
+     139             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     140             : 
+     141             :   double getInnovation(const int &state_idx) const override;
+     142             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             :   void timeoutOdom(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     153             :   void timeoutRange(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     154             : 
+     155             :   std::string getNamespacedName() const;
+     156             : 
+     157             :   std::string getPrintName() const;
+     158             : };
+     159             : }  // namespace mrs_uav_state_estimators
+     160             : 
+     161             : #endif  // ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html new file mode 100644 index 0000000000..85adff98de --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_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 + 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/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..dcf0f4a027a6ab756dec1329ddcee71c4cae2957 GIT binary patch literal 688 zcmV;h0#E&kP)bm(Ppe}^qLnGb+F$2vKD02Gn zh($1dgra5Z8E?E&cRG}^Kx#yMfS#cr8p4)R${TUN=r@|=k$axQF7Ej(BA)90}BGAm^jcLl0&P&><5?5@?l)W15 z*ceT@60t-DKw?Uo)d&Z34^8KOsIJS88X1*Zxdf%Fo*cRt+v{ zz{VnN=>k`O353Z4;lz0bk%xtVdKj)gkW5@kI5QgK1#1)T1NCV5ExZAu!6Gf-yUk(o zI_q696*4h1pK!os(Q5%Z&B8@AX`^Yse#EiF#jklyiXJZuc49O|P?=mpMt2K+B4&}! zDxRsQYO{&!#ej+FIWojMZCbMd#E!FR5=8x3=)}zT{5YwaS~4UJFz(3@Jo&slhq@gc zRlV#zM0B&hYSzt`XtsK>y-#`N|2_WR`Tsn3+qUg*EH8d=+rF8^*);g*{x-0$lK(o|Y&0b=W0s!=7T&CEV>Oy!9ePcyge|x|(9`l-aMLnFyWzjy1 z9kVSV@LD0}Sxbt6RK_&i8dzK_FLFMex4`W9Oz}Zykn(SMU9|PPztmjnaL`kYvE`jB zAM+>D)!$NuGqnlj6xLY@*6Y0R)+;pj!HIF@(PL*ABk5r>>k*&qo>xvX(Os97EA9_V W6RZS^kluj+0000 + + + + + + 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:2024-10-08 22:31:24Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)202
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2202
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..a2841369ce --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)202
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2202
+
+
+ + + +
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..16dbee588d --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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         202 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         202 :   }
+      32             : 
+      33         202 :   virtual ~AltitudeEstimator(void) {
+      34         202 :   }
+      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..02445f8008 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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..23a4f4a9ff --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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..8ada23722e --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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..ac0257405d --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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..c5936fee04 --- /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:2024-10-08 22:31:24Functions: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.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html new file mode 100644 index 0000000000..eaead7eb69 --- /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:2024-10-08 22:31:24Functions: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
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+ + + 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..c0e9909dac --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,428 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:38295540.0 %
Date:2024-10-08 22:31:24Functions:488755.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::getInFrame(geometry_msgs::Point_<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>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getVecInFrame(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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)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>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getInFrame(geometry_msgs::Point_<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<2>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgInitZ(double)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>::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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)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>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getAvgInitZ(double)22
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)115
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)>)119
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const238
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const244
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)275
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)>)295
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const504
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const590
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const649
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1167
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1790
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1812
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1812
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3795
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3865
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3866
mrs_uav_state_estimators::Correction<2>::getRawCorrection()6875
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()6875
mrs_uav_state_estimators::Correction<1>::getRawCorrection()9834
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()9841
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11060
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11088
mrs_uav_state_estimators::Correction<2>::getVecInFrame(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> >)11095
mrs_uav_state_estimators::Correction<2>::transformVecToFrame(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> >)11095
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)214063
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)217898
mrs_uav_state_estimators::Correction<2>::isMsgComing()221625
mrs_uav_state_estimators::Correction<2>::isHealthy()221650
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224248
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)224417
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224417
mrs_uav_state_estimators::Correction<2>::setR(double)225357
mrs_uav_state_estimators::Correction<2>::getStateId() const225884
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)229006
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)232832
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)309437
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)314021
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)458088
mrs_uav_state_estimators::Correction<1>::setR(double)527174
mrs_uav_state_estimators::Correction<1>::getStateId() const527187
mrs_uav_state_estimators::Correction<1>::isMsgComing()530219
mrs_uav_state_estimators::Correction<1>::isHealthy()530327
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)531547
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)536210
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)1063348
mrs_uav_state_estimators::Correction<2>::getR()1141306
mrs_uav_state_estimators::Correction<1>::getR()1590022
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html new file mode 100644 index 0000000000..a70b215269 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html @@ -0,0 +1,428 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:38295540.0 %
Date:2024-10-08 22:31:24Functions:488755.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::getInFrame(geometry_msgs::Point_<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>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1790
mrs_uav_state_estimators::Correction<1>::getAvgInitZ(double)22
mrs_uav_state_estimators::Correction<1>::isMsgComing()530219
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)309437
mrs_uav_state_estimators::Correction<1>::getVecInFrame(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>)224248
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)531547
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)224417
mrs_uav_state_estimators::Correction<1>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::getRawCorrection()9834
mrs_uav_state_estimators::Correction<1>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)1063348
mrs_uav_state_estimators::Correction<1>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1812
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>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)314021
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()9841
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)275
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224417
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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()1590022
mrs_uav_state_estimators::Correction<1>::setR(double)527174
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)536210
mrs_uav_state_estimators::Correction<1>::isHealthy()530327
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)>)295
mrs_uav_state_estimators::Correction<2>::getInFrame(geometry_msgs::Point_<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<2>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3795
mrs_uav_state_estimators::Correction<2>::getAvgInitZ(double)0
mrs_uav_state_estimators::Correction<2>::isMsgComing()221625
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)214063
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getVecInFrame(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> >)11095
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11060
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)229006
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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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()6875
mrs_uav_state_estimators::Correction<2>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)458088
mrs_uav_state_estimators::Correction<2>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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> >)11095
mrs_uav_state_estimators::Correction<2>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3865
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>)217898
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()6875
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)115
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11088
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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()1141306
mrs_uav_state_estimators::Correction<2>::setR(double)225357
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)232832
mrs_uav_state_estimators::Correction<2>::isHealthy()221650
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)>)119
mrs_uav_state_estimators::Correction<1>::getStateId() const527187
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const649
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1167
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1812
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const590
mrs_uav_state_estimators::Correction<2>::getStateId() const225884
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const244
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const504
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3866
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const238
+
+
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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/correction.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html new file mode 100644 index 0000000000..3b2b9aa9cc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.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/correction.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html new file mode 100644 index 0000000000..0e2da26d97 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html @@ -0,0 +1,2456 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:38295540.0 %
Date:2024-10-08 22:31:24Functions:488755.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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 <sensor_msgs/Imu.h>
+      22             : #include <sensor_msgs/MagneticField.h>
+      23             : #include <sensor_msgs/NavSatFix.h>
+      24             : #include <nav_msgs/Odometry.h>
+      25             : 
+      26             : #include <std_srvs/SetBool.h>
+      27             : 
+      28             : #include <functional>
+      29             : 
+      30             : #include <mrs_uav_managers/estimation_manager/types.h>
+      31             : #include <mrs_uav_managers/estimation_manager/support.h>
+      32             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      33             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      34             : 
+      35             : #include <mrs_uav_state_estimators/processors/processor.h>
+      36             : #include <mrs_uav_state_estimators/processors/proc_median_filter.h>
+      37             : #include <mrs_uav_state_estimators/processors/proc_saturate.h>
+      38             : #include <mrs_uav_state_estimators/processors/proc_excessive_tilt.h>
+      39             : #include <mrs_uav_state_estimators/processors/proc_tf_to_world.h>
+      40             : #include <mrs_uav_state_estimators/processors/proc_mag_declination.h>
+      41             : 
+      42             : #include <mrs_uav_state_estimators/CorrectionConfig.h>
+      43             : 
+      44             : 
+      45             : namespace mrs_uav_state_estimators
+      46             : {
+      47             : 
+      48             : typedef enum
+      49             : {
+      50             :   LATERAL,
+      51             :   ALTITUDE,
+      52             :   HEADING
+      53             : } EstimatorType_t;
+      54             : const int n_EstimatorType_t = 3;
+      55             : 
+      56             : typedef enum
+      57             : {
+      58             :   UNKNOWN,
+      59             :   ODOMETRY,
+      60             :   POSE,
+      61             :   POSECOV,
+      62             :   RANGE,
+      63             :   IMU,
+      64             :   RTK_GPS,
+      65             :   NAVSATFIX,
+      66             :   MAG_HDG,
+      67             :   MAG_FIELD,
+      68             :   POINT,
+      69             :   VECTOR,
+      70             :   QUAT,
+      71             : } MessageType_t;
+      72             : const int n_MessageType_t = 10;
+      73             : 
+      74             : const std::map<std::string, MessageType_t> map_msg_type{{"nav_msgs/Odometry", MessageType_t::ODOMETRY},
+      75             :                                                         {"geometry_msgs/PoseStamped", MessageType_t::POSE},
+      76             :                                                         {"geometry_msgs/PoseWithCovarianceStamped", MessageType_t::POSECOV},
+      77             :                                                         {"sensor_msgs/Range", MessageType_t::RANGE},
+      78             :                                                         {"sensor_msgs/Imu", MessageType_t::IMU},
+      79             :                                                         {"mrs_msgs/RtkGps", MessageType_t::RTK_GPS},
+      80             :                                                         {"sensor_msgs/NavSatFix", MessageType_t::NAVSATFIX},
+      81             :                                                         {"mrs_msgs/Float64Stamped", MessageType_t::MAG_HDG},
+      82             :                                                         {"sensor_msgs/MagneticField", MessageType_t::MAG_FIELD},
+      83             :                                                         {"geometry_msgs/PointStamped", MessageType_t::POINT},
+      84             :                                                         {"geometry_msgs/Vector3Stamped", MessageType_t::VECTOR},
+      85             :                                                         {"geometry_msgs/QuaternionStamped", MessageType_t::QUAT}};
+      86             : 
+      87             : template <int n_measurements>
+      88             : class Correction {
+      89             : 
+      90             :   using CommonHandlers_t  = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      91             :   using PrivateHandlers_t = mrs_uav_managers::estimation_manager::PrivateHandlers_t;
+      92             :   using StateId_t         = mrs_uav_managers::estimation_manager::StateId_t;
+      93             : 
+      94             : public:
+      95             :   typedef Eigen::Matrix<double, n_measurements, 1>         measurement_t;
+      96             :   typedef mrs_lib::DynamicReconfigureMgr<CorrectionConfig> drmgr_t;
+      97             : 
+      98             :   struct MeasurementStamped
+      99             :   {
+     100             :     ros::Time     stamp;
+     101             :     measurement_t value;
+     102             :   };
+     103             : 
+     104             : public:
+     105             :   Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& frame_id, const EstimatorType_t& est_type,
+     106             :              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     107             :              std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction);
+     108             : 
+     109             :   std::string getName() const;
+     110             :   std::string getNamespacedName() const;
+     111             :   std::string getPrintName() const;
+     112             : 
+     113             :   double    getR();
+     114             :   void      setR(const double R);
+     115             :   StateId_t getStateId() const;
+     116             : 
+     117             :   bool             isHealthy();
+     118             :   ros::Time        healthy_time_;
+     119             :   std::atomic_bool is_healthy_    = true;
+     120             :   std::atomic_bool is_delay_ok_   = true;
+     121             :   std::atomic_bool is_dt_ok_      = true;
+     122             :   std::atomic_bool is_nan_free_   = true;
+     123             :   std::atomic_bool got_first_msg_ = false;
+     124             : 
+     125             :   int counter_nan_ = 0;
+     126             : 
+     127             :   std::optional<MeasurementStamped> getRawCorrection();
+     128             :   std::optional<MeasurementStamped> getProcessedCorrection();
+     129             : 
+     130             :   void resetProcessors();
+     131             : 
+     132             : private:
+     133             :   std::atomic_bool is_initialized_ = false;
+     134             : 
+     135             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odom_;
+     136             :   void                                          callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     137             :   std::optional<measurement_t>                  getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg);
+     138             : 
+     139             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped> sh_pose_s_;
+     140             :   void                                                  callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg);
+     141             :   std::optional<measurement_t>                          getCorrectionFromPoseStamped(const geometry_msgs::PoseStampedConstPtr msg);
+     142             : 
+     143             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped> sh_pose_wcs_;
+     144             : 
+     145             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_;
+     146             :   void                                        callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg);
+     147             :   std::optional<measurement_t>                getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg);
+     148             : 
+     149             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_navsatfix_;
+     150             :   void                                              callbackNavSatFix(const sensor_msgs::NavSatFix::ConstPtr msg);
+     151             :   std::optional<measurement_t>                      getCorrectionFromNavSatFix(const sensor_msgs::NavSatFixConstPtr msg);
+     152             : 
+     153             :   void   getAvgInitZ(const double z);
+     154             :   bool   got_avg_init_z_ = false;
+     155             :   double init_z_avg_     = 0.0;
+     156             :   int    got_z_counter_  = 0;
+     157             : 
+     158             :   mrs_lib::SubscribeHandler<geometry_msgs::PointStamped> sh_point_;
+     159             :   void                                                   callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg);
+     160             :   std::optional<measurement_t>                           getCorrectionFromPoint(const geometry_msgs::PointStampedConstPtr msg);
+     161             : 
+     162             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_vector_;
+     163             :   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
+     164             :   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+     165             : 
+     166             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;  // for obtaining heading rate
+     167             :   std::string                                                 orientation_topic_;
+     168             : 
+     169             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
+     170             :   measurement_t                                               prev_hdg_measurement_;
+     171             :   bool                                                        got_first_hdg_measurement_ = false;
+     172             :   bool                                                        init_hdg_in_zero_          = false;
+     173             :   double                                                      first_hdg_measurement_     = 0.0;
+     174             : 
+     175             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu> sh_imu_;
+     176             :   std::optional<measurement_t>                getCorrectionFromImu(const sensor_msgs::ImuConstPtr msg);
+     177             :   void                                        callbackImu(const sensor_msgs::Imu::ConstPtr msg);
+     178             : 
+     179             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_mag_hdg_;
+     180             :   std::optional<measurement_t>                        getCorrectionFromMagHeading(const mrs_msgs::Float64StampedConstPtr msg);
+     181             :   void                                                callbackMagHeading(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     182             :   double                                              mag_hdg_previous_;
+     183             :   bool                                                got_first_mag_hdg_;
+     184             : 
+     185             :   mrs_lib::SubscribeHandler<sensor_msgs::MagneticField> sh_mag_field_;
+     186             :   std::optional<measurement_t>                          getCorrectionFromMagField(const sensor_msgs::MagneticFieldConstPtr msg);
+     187             :   void                                                  callbackMagField(const sensor_msgs::MagneticField::ConstPtr msg);
+     188             : 
+     189             :   mrs_lib::SubscribeHandler<sensor_msgs::Range> sh_range_;
+     190             :   std::optional<measurement_t>                  getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg);
+     191             :   void                                          callbackRange(const sensor_msgs::Range::ConstPtr msg);
+     192             :   ros::ServiceServer                            ser_toggle_range_;
+     193             :   bool                                          callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     194             :   bool                                          range_enabled_ = true;
+     195             : 
+     196             :   void applyCorrection(const measurement_t& meas, const ros::Time& stamp);
+     197             : 
+     198             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_raw_;
+     199             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_proc_;
+     200             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_delay_;
+     201             : 
+     202             :   const std::string                  est_name_;
+     203             :   const std::string                  name_;
+     204             :   const std::string                  ns_frame_id_;
+     205             :   const EstimatorType_t              est_type_;
+     206             :   std::shared_ptr<CommonHandlers_t>  ch_;
+     207             :   std::shared_ptr<PrivateHandlers_t> ph_;
+     208             : 
+     209             :   MessageType_t msg_type_;
+     210             :   std::string   msg_topic_;
+     211             :   double        msg_timeout_;
+     212             : 
+     213             :   double     R_;
+     214             :   double     default_R_;
+     215             :   double     R_coeff_;
+     216             :   std::mutex mtx_R_;
+     217             :   StateId_t  state_id_;
+     218             :   bool       is_in_body_frame_ = true;
+     219             :   double     gravity_norm_     = 9.8066;
+     220             : 
+     221             :   bool        transform_to_frame_enabled_ = false;
+     222             :   std::string transform_to_frame_;
+     223             :   std::string transform_from_frame_;
+     224             : 
+     225             :   std::unique_ptr<drmgr_t> drmgr_;
+     226             : 
+     227             :   std::optional<measurement_t> getCorrectionFromQuat(const geometry_msgs::QuaternionStampedConstPtr msg);
+     228             :   std::optional<measurement_t> getZVelUntilted(const geometry_msgs::Vector3& msg, const std_msgs::Header& header);
+     229             :   std::optional<measurement_t> getVecInFrame(const geometry_msgs::Vector3& vec_in, const std_msgs::Header& source_header, const std::string target_frame);
+     230             :   std::optional<geometry_msgs::Vector3> transformVecToFrame(const geometry_msgs::Vector3& vec_in, const std_msgs::Header& source_header,
+     231             :                                                             const std::string target_frame);
+     232             :   std::optional<geometry_msgs::Point>   getInFrame(const geometry_msgs::Point& vec_in, const std_msgs::Header& source_header, const std::string target_frame);
+     233             : 
+     234             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     235             : 
+     236             :   void   checkMsgDelay(const ros::Time& msg_time);
+     237             :   double msg_delay_limit_;
+     238             :   double msg_delay_warn_limit_;
+     239             : 
+     240             :   double time_since_last_msg_limit_;
+     241             : 
+     242             :   std::shared_ptr<Processor<n_measurements>> createProcessorFromName(const std::string& name, ros::NodeHandle& nh);
+     243             :   bool                                       process(measurement_t& measurement);
+     244             : 
+     245             :   bool             isTimestampOk();
+     246             :   bool             isMsgComing();
+     247             :   std::atomic_bool first_timestamp_ = true;
+     248             :   ros::Time        msg_time_;
+     249             :   ros::Time        prev_msg_time_;
+     250             :   std::mutex       mtx_msg_time_;
+     251             : 
+     252             :   std::vector<std::string>                                                    processor_names_;
+     253             :   std::unordered_map<std::string, std::shared_ptr<Processor<n_measurements>>> processors_;
+     254             : 
+     255             :   std::function<double(int, int)>                            fun_get_state_;
+     256             :   std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction_;
+     257             : 
+     258             :   void publishCorrection(const MeasurementStamped& measurement_stamped, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr);
+     259             :   void publishDelay(const double delay);
+     260             : };
+     261             : 
+     262             : /*//{ constructor */
+     263             : template <int n_measurements>
+     264         414 : Correction<n_measurements>::Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& ns_frame_id,
+     265             :                                        const EstimatorType_t& est_type, const std::shared_ptr<CommonHandlers_t>& ch,
+     266             :                                        const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     267             :                                        std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction)
+     268             :     : est_name_(est_name),
+     269             :       name_(name),
+     270             :       ns_frame_id_(ns_frame_id),
+     271             :       est_type_(est_type),
+     272             :       ch_(ch),
+     273             :       ph_(ph),
+     274             :       fun_get_state_(fun_get_state),
+     275         414 :       fun_apply_correction_(fun_apply_correction) {
+     276             : 
+     277             :   // | --------------------- load parameters -------------------- |
+     278             : 
+     279         828 :   std::string msg_type_string;
+     280             : 
+     281         414 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     282             : 
+     283         414 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     284         414 :   if (map_msg_type.find(msg_type_string) == map_msg_type.end()) {
+     285           0 :     ROS_ERROR("[%s]: wrong message type: %s of correction %s", getPrintName().c_str(), msg_type_string.c_str(), getName().c_str());
+     286           0 :     ros::shutdown();
+     287             :   }
+     288         414 :   msg_type_ = map_msg_type.at(msg_type_string);
+     289             : 
+     290         414 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     291         414 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     292         414 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     293         414 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     294         414 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     295             : 
+     296             :   int state_id_tmp;
+     297         414 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     298         414 :   if (state_id_tmp < n_StateId_t) {
+     299         414 :     state_id_ = static_cast<StateId_t>(state_id_tmp);
+     300             :   } else {
+     301           0 :     ROS_ERROR("[%s]: wrong state id: %d of correction %s", getPrintName().c_str(), state_id_tmp, getName().c_str());
+     302           0 :     ros::shutdown();
+     303             :   }
+     304             : 
+     305         414 :   ph->param_loader->loadParam("transform/enabled", transform_to_frame_enabled_, false);
+     306         414 :   if (transform_to_frame_enabled_) {
+     307           0 :     ph->param_loader->loadParam("transform/from_frame", transform_from_frame_);
+     308           0 :     transform_from_frame_ = ch_->uav_name + "/" + transform_from_frame_;
+     309           0 :     ph->param_loader->loadParam("transform/to_frame", transform_to_frame_);
+     310           0 :     transform_to_frame_ = ch_->uav_name + "/" + transform_to_frame_;
+     311             :   }
+     312             : 
+     313             : 
+     314         414 :   if (state_id_ == StateId_t::VELOCITY) {
+     315         119 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     316             :   }
+     317             : 
+     318         414 :   if (state_id_ == StateId_t::ACCELERATION) {
+     319           0 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     320           0 :     ph->param_loader->loadParam("gravity_norm", gravity_norm_, 9.8066);
+     321             :   }
+     322             : 
+     323         414 :   ph->param_loader->loadParam("noise", R_);
+     324         414 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     325         414 :   default_R_ = R_;
+     326             : 
+     327             :   // | --------------- processors initialization --------------- |
+     328         414 :   ph->param_loader->loadParam("processors", processor_names_);
+     329             : 
+     330         804 :   for (auto proc_name : processor_names_) {
+     331         390 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     332             :   }
+     333             : 
+     334             :   // | ------------- initialize dynamic reconfigure ------------- |
+     335         414 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     336         414 :   drmgr_->config.noise = R_;
+     337         414 :   drmgr_->update_config(drmgr_->config);
+     338             : 
+     339             :   // | -------------- initialize subscribe handlers ------------- |
+     340         828 :   mrs_lib::SubscribeHandlerOptions shopts;
+     341         414 :   shopts.nh                 = nh;
+     342         414 :   shopts.node_name          = getPrintName();
+     343         414 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     344         414 :   shopts.threadsafe         = true;
+     345         414 :   shopts.autostart          = true;
+     346         414 :   shopts.queue_size         = 10;
+     347         414 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     348             : 
+     349         414 :   switch (msg_type_) {
+     350           0 :     case MessageType_t::ODOMETRY: {
+     351           0 :       sh_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Correction::callbackOdometry, this);
+     352           0 :       break;
+     353             :     }
+     354           0 :     case MessageType_t::POSE: {
+     355           0 :       sh_pose_s_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped>(shopts, msg_topic_, &Correction::callbackPoseStamped, this);
+     356           0 :       break;
+     357             :     }
+     358           0 :     case MessageType_t::POSECOV: {
+     359             :       // TODO implement
+     360             :       /* sh_pose_wcs_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped>(shopts, msg_topic_); */
+     361           0 :       break;
+     362             :     }
+     363         178 :     case MessageType_t::RANGE: {
+     364         178 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     365         178 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     366         356 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     367         356 :       ser_toggle_range_ =
+     368         178 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     369         178 :       break;
+     370             :     }
+     371           0 :     case MessageType_t::IMU: {
+     372           0 :       sh_imu_ = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, msg_topic_, &Correction::callbackImu, this);
+     373           0 :       break;
+     374             :     }
+     375           6 :     case MessageType_t::RTK_GPS: {
+     376           6 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     377           6 :       break;
+     378             :     }
+     379           0 :     case MessageType_t::NAVSATFIX: {
+     380           0 :       sh_navsatfix_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, msg_topic_, &Correction::callbackNavSatFix, this);
+     381           0 :       break;
+     382             :     }
+     383           0 :     case MessageType_t::MAG_HDG: {
+     384           0 :       sh_mag_hdg_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, msg_topic_, &Correction::callbackMagHeading, this);
+     385           0 :       break;
+     386             :     }
+     387           0 :     case MessageType_t::MAG_FIELD: {
+     388           0 :       sh_mag_field_ = mrs_lib::SubscribeHandler<sensor_msgs::MagneticField>(shopts, msg_topic_, &Correction::callbackMagField, this);
+     389           0 :       break;
+     390             :     }
+     391         111 :     case MessageType_t::POINT: {
+     392         111 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     393         111 :       break;
+     394             :     }
+     395         119 :     case MessageType_t::VECTOR: {
+     396         119 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     397         119 :       break;
+     398             :     }
+     399           0 :     case MessageType_t::QUAT: {
+     400           0 :       sh_quat_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, msg_topic_);
+     401           0 :       break;
+     402             :     }
+     403           0 :     case MessageType_t::UNKNOWN: {
+     404           0 :       ROS_ERROR("[%s]: UNKNOWN message type of correction", getPrintName().c_str());
+     405           0 :       break;
+     406             :     }
+     407           0 :     default: {
+     408           0 :       ROS_ERROR("[%s]: unhandled message type", getPrintName().c_str());
+     409             :     }
+     410             :   }
+     411             : 
+     412             :   // | ------ subscribe orientation for obtaingin hdg rate ------ |
+     413             :   /* if (est_type_ == EstimatorType_t::HEADING && state_id_ == StateId_t::VELOCITY) { */
+     414             :   /*   ph->param_loader->loadParam("message/orientation_topic", orientation_topic_); */
+     415             :   /*   orientation_topic_ = "/" + ch_->uav_name + "/" + orientation_topic_; */
+     416             :   /*   sh_orientation_    = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_); */
+     417             :   /* } */
+     418             : 
+     419         414 :   if (est_type_ == EstimatorType_t::HEADING) {
+     420           0 :     ph->param_loader->loadParam("init_hdg_in_zero", init_hdg_in_zero_, false);
+     421             :   }
+     422             : 
+     423             : 
+     424             :   // | --------------- initialize publish handlers -------------- |
+     425         414 :   if (ch_->debug_topics.correction) {
+     426         414 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     427         414 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     428             :   }
+     429         414 :   if (ch_->debug_topics.corr_delay) {
+     430           0 :     ph_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, est_name_ + "/correction/" + getName() + "/delay", 10);
+     431             :   }
+     432             : 
+     433             :   // | --- check whether all parameters were loaded correctly --- |
+     434         414 :   if (!ph->param_loader->loadedSuccessfully()) {
+     435           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     436           0 :     ros::shutdown();
+     437             :   }
+     438             : 
+     439         414 :   healthy_time_ = ros::Time(0);
+     440             : 
+     441         414 :   is_initialized_ = true;
+     442         414 : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getName() */
+     446             : template <int n_measurements>
+     447         828 : std::string Correction<n_measurements>::getName() const {
+     448         828 :   return name_;
+     449             : }
+     450             : /*//}*/
+     451             : 
+     452             : /*//{ getNamespacedName() */
+     453             : template <int n_measurements>
+     454        1671 : std::string Correction<n_measurements>::getNamespacedName() const {
+     455        1671 :   return est_name_ + "/" + name_;
+     456             : }
+     457             : /*//}*/
+     458             : 
+     459             : /*//{ getPrintName() */
+     460             : template <int n_measurements>
+     461         893 : std::string Correction<n_measurements>::getPrintName() const {
+     462         893 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     463             : }
+     464             : /*//}*/
+     465             : 
+     466             : /*//{ getR() */
+     467             : template <int n_measurements>
+     468     2731328 : double Correction<n_measurements>::getR() {
+     469     2731328 :   std::scoped_lock lock(mtx_R_);
+     470     2731240 :   default_R_ = drmgr_->config.noise;
+     471     5461693 :   return R_;
+     472             : }
+     473             : /*//}*/
+     474             : 
+     475             : /*//{ setR() */
+     476             : template <int n_measurements>
+     477      752531 : void Correction<n_measurements>::setR(const double R) {
+     478      752531 :   std::scoped_lock lock(mtx_R_);
+     479      752536 :   R_ = R;
+     480      752579 : }
+     481             : /*//}*/
+     482             : 
+     483             : /*//{ getStateId() */
+     484             : template <int n_measurements>
+     485      753071 : StateId_t Correction<n_measurements>::getStateId() const {
+     486      753071 :   return state_id_;
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ isHealthy() */
+     491             : template <int n_measurements>
+     492      751977 : bool Correction<n_measurements>::isHealthy() {
+     493             : 
+     494      751977 :   if (!is_initialized_) {
+     495           0 :     return false;
+     496             :   }
+     497             : 
+     498      751826 :   is_dt_ok_ = isMsgComing();
+     499             : 
+     500      751939 :   if (!is_delay_ok_) {
+     501           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     502             :   }
+     503             : 
+     504      751868 :   if (!is_healthy_) {
+     505           0 :     if (is_dt_ok_ && is_delay_ok_) {
+     506           0 :       if (healthy_time_ > ros::Time(10)) {
+     507           0 :         is_healthy_ = true;
+     508             :       }
+     509             :     } else {
+     510           0 :       healthy_time_ = ros::Time(0);
+     511             :     }
+     512             :   }
+     513             : 
+     514      751870 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     515             : 
+     516      751992 :   return is_healthy_;
+     517             : }
+     518             : /*//}*/
+     519             : 
+     520             : /*//{ getRawCorrection() */
+     521             : template <int n_measurements>
+     522       16709 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     523             : 
+     524       16709 :   if (!is_initialized_) {
+     525           0 :     return {};
+     526             :   }
+     527             : 
+     528       16686 :   MeasurementStamped measurement_stamped;
+     529             : 
+     530       16683 :   switch (msg_type_) {
+     531             : 
+     532           0 :     case MessageType_t::ODOMETRY: {
+     533             : 
+     534           0 :       if (!sh_odom_.hasMsg()) {
+     535           0 :         return {};
+     536             :       }
+     537             : 
+     538           0 :       auto msg                  = sh_odom_.getMsg();
+     539           0 :       measurement_stamped.stamp = msg->header.stamp;
+     540             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     541             :       /*   return {}; */
+     542             :       /* } */
+     543             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     544             : 
+     545             :       /* if (!is_delay_ok_) { */
+     546             :       /*   return {}; */
+     547             :       /* } */
+     548           0 :       auto res = getCorrectionFromOdometry(msg);
+     549           0 :       if (res) {
+     550           0 :         measurement_stamped.value = res.value();
+     551             :       } else {
+     552           0 :         return {};
+     553             :       }
+     554           0 :       break;
+     555             :     }
+     556             : 
+     557           0 :     case MessageType_t::POSE: {
+     558             : 
+     559           0 :       if (!sh_pose_s_.hasMsg()) {
+     560           0 :         return {};
+     561             :       }
+     562             : 
+     563           0 :       auto msg                  = sh_pose_s_.getMsg();
+     564           0 :       measurement_stamped.stamp = msg->header.stamp;
+     565             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     566             :       /*   return {}; */
+     567             :       /* } */
+     568             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     569             : 
+     570             :       /* if (!is_delay_ok_) { */
+     571             :       /*   return {}; */
+     572             :       /* } */
+     573           0 :       auto res = getCorrectionFromPoseStamped(msg);
+     574           0 :       if (res) {
+     575           0 :         measurement_stamped.value = res.value();
+     576             :       } else {
+     577           0 :         return {};
+     578             :       }
+     579           0 :       break;
+     580             :     }
+     581             : 
+     582           0 :     case MessageType_t::POSECOV: {
+     583             :       // TODO implement
+     584             :       /* return getCorrectionFromPoseWCS(msg); */
+     585           0 :       is_healthy_ = false;
+     586           0 :       return {};
+     587             :       break;
+     588             :     }
+     589             : 
+     590        9303 :     case MessageType_t::RANGE: {
+     591             : 
+     592        9303 :       if (!range_enabled_) {
+     593           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     594        4784 :         return {};
+     595             :       }
+     596             : 
+     597        9303 :       if (!sh_range_.hasMsg()) {
+     598        3460 :         return {};
+     599             :       }
+     600             : 
+     601        5839 :       auto msg                  = sh_range_.getMsg();
+     602        5838 :       measurement_stamped.stamp = msg->header.stamp;
+     603             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     604             : 
+     605             :       /* if (!is_delay_ok_) { */
+     606             :       /*   return {}; */
+     607             :       /* } */
+     608             : 
+     609        5837 :       auto res = getCorrectionFromRange(msg);
+     610        5840 :       if (res) {
+     611        4528 :         measurement_stamped.value = res.value();
+     612             :       } else {
+     613        1312 :         return {};
+     614             :       }
+     615        4528 :       break;
+     616             :     }
+     617             : 
+     618           0 :     case MessageType_t::IMU: {
+     619             : 
+     620           0 :       if (!sh_imu_.hasMsg()) {
+     621           0 :         ROS_ERROR_THROTTLE(1.0, " no imu msgs so far");
+     622           0 :         return {};
+     623             :       }
+     624             : 
+     625           0 :       auto msg                  = sh_imu_.getMsg();
+     626           0 :       measurement_stamped.stamp = msg->header.stamp;
+     627             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     628             : 
+     629             :       /* if (!is_delay_ok_) { */
+     630             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     631             :       /*   return {}; */
+     632             :       /* } */
+     633             : 
+     634           0 :       auto res = getCorrectionFromImu(msg);
+     635           0 :       if (res) {
+     636           0 :         measurement_stamped.value = res.value();
+     637             :       } else {
+     638           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get imu correction", ros::this_node::getName().c_str());
+     639           0 :         return {};
+     640             :       }
+     641             : 
+     642           0 :       break;
+     643             :     }
+     644             : 
+     645          92 :     case MessageType_t::RTK_GPS: {
+     646             : 
+     647          92 :       if (!sh_rtk_.hasMsg()) {
+     648           1 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     649          16 :         return {};
+     650             :       }
+     651             : 
+     652          91 :       auto msg                  = sh_rtk_.getMsg();
+     653          91 :       measurement_stamped.stamp = msg->header.stamp;
+     654             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     655             : 
+     656             :       /* if (!is_delay_ok_) { */
+     657             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     658             :       /*   return {}; */
+     659             :       /* } */
+     660             : 
+     661          91 :       auto res = getCorrectionFromRtk(msg);
+     662          91 :       if (res) {
+     663          76 :         measurement_stamped.value = res.value();
+     664             :       } else {
+     665          15 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     666          15 :         return {};
+     667             :       }
+     668             : 
+     669          76 :       break;
+     670             :     }
+     671             : 
+     672           0 :     case MessageType_t::NAVSATFIX: {
+     673             : 
+     674           0 :       if (!sh_navsatfix_.hasMsg()) {
+     675           0 :         ROS_ERROR_THROTTLE(1.0, " no navsatfix msgs so far");
+     676           0 :         return {};
+     677             :       }
+     678             : 
+     679           0 :       auto msg                  = sh_navsatfix_.getMsg();
+     680           0 :       measurement_stamped.stamp = msg->header.stamp;
+     681             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     682             : 
+     683             :       /* if (!is_delay_ok_) { */
+     684             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     685             :       /*   return {}; */
+     686             :       /* } */
+     687             : 
+     688           0 :       auto res = getCorrectionFromNavSatFix(msg);
+     689           0 :       if (res) {
+     690           0 :         measurement_stamped.value = res.value();
+     691             :       } else {
+     692           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get navsatfix correction", ros::this_node::getName().c_str());
+     693           0 :         return {};
+     694             :       }
+     695             : 
+     696           0 :       break;
+     697             :     }
+     698             : 
+     699           0 :     case MessageType_t::MAG_HDG: {
+     700             : 
+     701           0 :       if (!sh_mag_hdg_.hasMsg()) {
+     702           0 :         return {};
+     703             :       }
+     704             : 
+     705           0 :       auto msg                  = sh_mag_hdg_.getMsg();
+     706           0 :       measurement_stamped.stamp = msg->header.stamp;
+     707             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     708             : 
+     709             :       /* if (!is_delay_ok_) { */
+     710             :       /*   return {}; */
+     711             :       /* } */
+     712           0 :       auto res = getCorrectionFromMagHeading(msg);
+     713           0 :       if (res) {
+     714           0 :         measurement_stamped.value = res.value();
+     715             :       } else {
+     716           0 :         return {};
+     717             :       }
+     718           0 :       break;
+     719             :     }
+     720             : 
+     721           0 :     case MessageType_t::MAG_FIELD: {
+     722             : 
+     723           0 :       if (!sh_mag_field_.hasMsg()) {
+     724           0 :         return {};
+     725             :       }
+     726             : 
+     727           0 :       auto msg                  = sh_mag_field_.getMsg();
+     728           0 :       measurement_stamped.stamp = msg->header.stamp;
+     729             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     730             : 
+     731             :       /* if (!is_delay_ok_) { */
+     732             :       /*   return {}; */
+     733             :       /* } */
+     734           0 :       auto res = getCorrectionFromMagField(msg);
+     735           0 :       if (res) {
+     736           0 :         measurement_stamped.value = res.value();
+     737             :       } else {
+     738           0 :         return {};
+     739             :       }
+     740           0 :       break;
+     741             :     }
+     742             : 
+     743        6737 :     case MessageType_t::POINT: {
+     744             : 
+     745        6737 :       if (!sh_point_.hasMsg()) {
+     746        3059 :         return {};
+     747             :       }
+     748             : 
+     749        3678 :       auto msg                  = sh_point_.getMsg();
+     750        3678 :       measurement_stamped.stamp = msg->header.stamp;
+     751             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     752             : 
+     753             :       /* if (!is_delay_ok_) { */
+     754             :       /*   return {}; */
+     755             :       /* } */
+     756        3678 :       auto res = getCorrectionFromPoint(msg);
+     757        3678 :       if (res) {
+     758        3678 :         measurement_stamped.value = res.value();
+     759             :       } else {
+     760           0 :         return {};
+     761             :       }
+     762        3678 :       break;
+     763             :     }
+     764             : 
+     765         573 :     case MessageType_t::VECTOR: {
+     766             : 
+     767         573 :       if (!sh_vector_.hasMsg()) {
+     768         454 :         return {};
+     769             :       }
+     770             : 
+     771         150 :       auto msg                  = sh_vector_.getMsg();
+     772         150 :       measurement_stamped.stamp = msg->header.stamp;
+     773             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     774             : 
+     775             :       /* if (!is_delay_ok_) { */
+     776             :       /*   return {}; */
+     777             :       /* } */
+     778         150 :       auto res = getCorrectionFromVector(msg);
+     779         150 :       if (res) {
+     780         119 :         measurement_stamped.value = res.value();
+     781             :       } else {
+     782          31 :         return {};
+     783             :       }
+     784         119 :       break;
+     785             :     }
+     786             : 
+     787           0 :     case MessageType_t::QUAT: {
+     788             : 
+     789           0 :       if (!sh_quat_.newMsg()) {
+     790           0 :         return {};
+     791             :       }
+     792             : 
+     793           0 :       auto msg                  = sh_quat_.getMsg();
+     794           0 :       measurement_stamped.stamp = msg->header.stamp;
+     795             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     796             : 
+     797             :       /* if (!is_delay_ok_) { */
+     798             :       /*   return {}; */
+     799             :       /* } */
+     800           0 :       auto res = getCorrectionFromQuat(msg);
+     801           0 :       if (res) {
+     802           0 :         measurement_stamped.value = res.value();
+     803             :       } else {
+     804           0 :         return {};
+     805             :       }
+     806           0 :       break;
+     807             :     }
+     808             : 
+     809           0 :     default: {
+     810           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: this type of correction is not implemented in getCorrectionFromMessage()", getPrintName().c_str());
+     811           0 :       is_healthy_ = false;
+     812           0 :       return {};
+     813             :     }
+     814             :   }
+     815             : 
+     816             :   // check for nans
+     817        8401 :   is_nan_free_ = true;
+     818       20550 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     819       12151 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     820           2 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in correction. Total NaNs: %d", getPrintName().c_str(), ++counter_nan_);
+     821           0 :       is_nan_free_ = false;
+     822           0 :       return {};
+     823             :     }
+     824             :   }
+     825             : 
+     826        8399 :   got_first_msg_ = true;
+     827        8401 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     828             : 
+     829        8401 :   return measurement_stamped;
+     830             : }
+     831             : /*//}*/
+     832             : 
+     833             : /*//{ getProcessedCorrection() */
+     834             : template <int n_measurements>
+     835       16716 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     836             : 
+     837       16716 :   MeasurementStamped measurement_stamped;
+     838       16702 :   auto               res = getRawCorrection();
+     839       16690 :   if (res) {
+     840        8401 :     MeasurementStamped measurement_stamped = res.value();
+     841        8397 :     if (process(measurement_stamped.value)) {
+     842         484 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     843         484 :       return measurement_stamped;
+     844             :     } else {
+     845        7917 :       return {};  // invalid correction
+     846             :     }
+     847             :   } else {
+     848        8298 :     return {};  // invalid correction
+     849             :   }
+     850             : }  // namespace mrs_uav_state_estimation
+     851             : /*//}*/
+     852             : 
+     853             : /*//{ callbackOdometry() */
+     854             : template <int n_measurements>
+     855           0 : void Correction<n_measurements>::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+     856             : 
+     857           0 :   if (!is_initialized_) {
+     858           0 :     return;
+     859             :   }
+     860             : 
+     861           0 :   auto res = getCorrectionFromOdometry(msg);
+     862           0 :   if (res) {
+     863           0 :     applyCorrection(res.value(), msg->header.stamp);
+     864             :   }
+     865             : }
+     866             : /*//}*/
+     867             : 
+     868             : /*//{ getCorrectionFromOdometry() */
+     869             : template <int n_measurements>
+     870           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg) {
+     871             : 
+     872           0 :   switch (est_type_) {
+     873             : 
+     874             :     // handle lateral estimators
+     875           0 :     case EstimatorType_t::LATERAL: {
+     876             : 
+     877           0 :       switch (state_id_) {
+     878             : 
+     879           0 :         case StateId_t::POSITION: {
+     880           0 :           measurement_t measurement;
+     881           0 :           if (transform_to_frame_enabled_) {
+     882           0 :             std_msgs::Header header = msg->header;
+     883           0 :             header.frame_id         = transform_from_frame_;
+     884           0 :             auto res                = getInFrame(msg->pose.pose.position, header, transform_to_frame_);
+     885           0 :             if (res) {
+     886           0 :               measurement_t measurement;
+     887           0 :               measurement(0) = res.value().x;
+     888           0 :               measurement(1) = res.value().y;
+     889           0 :               return measurement;
+     890             :             } else {
+     891           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     892           0 :               return {};
+     893             :             }
+     894             : 
+     895             :           } else {
+     896           0 :             measurement(0) = msg->pose.pose.position.x;
+     897           0 :             measurement(1) = msg->pose.pose.position.y;
+     898             :           }
+     899           0 :           return measurement;
+     900             :           break;
+     901             :         }
+     902             : 
+     903           0 :         case StateId_t::VELOCITY: {
+     904           0 :           if (is_in_body_frame_) {
+     905           0 :             std_msgs::Header header = msg->header;
+     906           0 :             header.frame_id         = ch_->frames.ns_fcu;  // message in odometry is published in body frame
+     907           0 :             auto res                = getVecInFrame(msg->twist.twist.linear, header, ns_frame_id_ + "_att_only");
+     908           0 :             if (res) {
+     909           0 :               measurement_t measurement;
+     910           0 :               measurement = res.value();
+     911           0 :               return measurement;
+     912             :             } else {
+     913           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     914           0 :               return {};
+     915             :             }
+     916             :           } else {
+     917           0 :             measurement_t measurement;
+     918           0 :             measurement(0) = msg->twist.twist.linear.x;
+     919           0 :             measurement(1) = msg->twist.twist.linear.y;
+     920           0 :             return measurement;
+     921             :           }
+     922             :           break;
+     923             :         }
+     924             : 
+     925           0 :         default: {
+     926           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     927           0 :           return {};
+     928             :         }
+     929             :       }
+     930             :       break;
+     931             :     }
+     932             : 
+     933             :     // handle altitude estimators
+     934           0 :     case EstimatorType_t::ALTITUDE: {
+     935             : 
+     936           0 :       switch (state_id_) {
+     937             : 
+     938           0 :         case StateId_t::POSITION: {
+     939           0 :           measurement_t measurement;
+     940           0 :           if (transform_to_frame_enabled_) {
+     941           0 :             std_msgs::Header header = msg->header;
+     942           0 :             header.frame_id         = transform_from_frame_;
+     943           0 :             auto res                = getInFrame(msg->pose.pose.position, header, transform_to_frame_);
+     944           0 :             if (res) {
+     945           0 :               measurement_t measurement;
+     946           0 :               measurement(0) = res.value().z;
+     947           0 :               return measurement;
+     948             :             } else {
+     949           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     950           0 :               return {};
+     951             :             }
+     952             : 
+     953             :           } else {
+     954           0 :             measurement(0) = msg->pose.pose.position.z;
+     955             :           }
+     956           0 :           return measurement;
+     957             :           break;
+     958             :         }
+     959             : 
+     960           0 :         case StateId_t::VELOCITY: {
+     961           0 :           if (is_in_body_frame_) {
+     962           0 :             std_msgs::Header header = msg->header;
+     963           0 :             header.frame_id         = ch_->frames.ns_fcu;
+     964           0 :             auto res                = getZVelUntilted(msg->twist.twist.linear, header);
+     965           0 :             if (res) {
+     966           0 :               measurement_t measurement;
+     967           0 :               measurement = res.value();
+     968           0 :               return measurement;
+     969             :             } else {
+     970           0 :               return {};
+     971             :             }
+     972             :           } else {
+     973           0 :             measurement_t measurement;
+     974           0 :             measurement(0) = msg->twist.twist.linear.z;
+     975           0 :             return measurement;
+     976             :           }
+     977             :           break;
+     978             :         }
+     979             : 
+     980           0 :         default: {
+     981           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     982           0 :           return {};
+     983             :         }
+     984             :       }
+     985             :       break;
+     986             :     }
+     987             : 
+     988             :     // handle heading estimators
+     989           0 :     case EstimatorType_t::HEADING: {
+     990             : 
+     991           0 :       switch (state_id_) {
+     992             : 
+     993           0 :         case StateId_t::POSITION: {
+     994           0 :           measurement_t                               measurement;
+     995           0 :           std::unique_ptr<mrs_lib::AttitudeConverter> attitude;
+     996             : 
+     997           0 :           if (transform_to_frame_enabled_) {
+     998             : 
+     999           0 :             auto res = ch_->transformer->getTransform(transform_from_frame_, transform_to_frame_, msg->header.stamp);
+    1000           0 :             if (!res) {
+    1001           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not find transform from '%s' to '%s'", ros::this_node::getName().c_str(), transform_from_frame_.c_str(),
+    1002             :                                 transform_to_frame_.c_str());
+    1003           0 :               return {};
+    1004             :             }
+    1005             : 
+    1006             :             // R_to_from = R^to_from
+    1007           0 :             Eigen::Matrix3d R_to_from = mrs_lib::AttitudeConverter(res.value().transform.rotation);
+    1008             : 
+    1009           0 :             Eigen::Matrix3d R_odom = mrs_lib::AttitudeConverter(msg->pose.pose.orientation);
+    1010             : 
+    1011             :             // obtain heading from orientation
+    1012           0 :             attitude = std::make_unique<mrs_lib::AttitudeConverter>(R_to_from * R_odom);
+    1013             : 
+    1014             :           } else {
+    1015           0 :             attitude = std::make_unique<mrs_lib::AttitudeConverter>(msg->pose.pose.orientation);
+    1016             :           }
+    1017             : 
+    1018             :           try {
+    1019             :             // obtain heading from orientation
+    1020           0 :             measurement(StateId_t::POSITION) = attitude->getHeading();
+    1021             : 
+    1022             :             // subtract initial heading to start with zero heading
+    1023           0 :             if (init_hdg_in_zero_ && got_first_hdg_measurement_) {
+    1024           0 :               measurement(StateId_t::POSITION) = measurement(StateId_t::POSITION) - first_hdg_measurement_;
+    1025             :             }
+    1026             : 
+    1027             :             // unwrap heading wrt previous measurement
+    1028           0 :             if (got_first_hdg_measurement_) {
+    1029           0 :               measurement(StateId_t::POSITION) =
+    1030           0 :                   mrs_lib::geometry::radians::unwrap(measurement(StateId_t::POSITION), prev_hdg_measurement_(StateId_t::POSITION));
+    1031             :             } else {
+    1032           0 :               first_hdg_measurement_     = measurement(StateId_t::POSITION);
+    1033           0 :               got_first_hdg_measurement_ = true;
+    1034             :             }
+    1035           0 :             prev_hdg_measurement_ = measurement;
+    1036           0 :             return measurement;
+    1037             :           }
+    1038           0 :           catch (...) {
+    1039           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+    1040           0 :             return {};
+    1041             :           }
+    1042             :           break;
+    1043             :         }
+    1044             : 
+    1045             :           /* case StateId_t::VELOCITY: { */
+    1046             :           /*   try { */
+    1047             :           /*     measurement_t measurement; */
+    1048             :           /*     measurement(0) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeadingRate(msg->twist.twist.angular); */
+    1049             :           /*     return measurement; */
+    1050             :           /*   } */
+    1051             :           /*   catch (...) { */
+    1052             :           /*     ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromOdometry())", getPrintName().c_str()); */
+    1053             :           /*     return {}; */
+    1054             :           /*   } */
+    1055             :           /*   break; */
+    1056             :           /* } */
+    1057             : 
+    1058           0 :         default: {
+    1059           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1060           0 :           return {};
+    1061             :         }
+    1062             :       }
+    1063           0 :       break;
+    1064             :     }
+    1065             :   }
+    1066             : 
+    1067           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1068           0 :   return {};
+    1069             : }
+    1070             : /*//}*/
+    1071             : 
+    1072             : /*//{ callbackPoseStamped() */
+    1073             : template <int n_measurements>
+    1074           0 : void Correction<n_measurements>::callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg) {
+    1075             : 
+    1076           0 :   if (!is_initialized_) {
+    1077           0 :     return;
+    1078             :   }
+    1079             : 
+    1080           0 :   auto res = getCorrectionFromPoseStamped(msg);
+    1081           0 :   if (res) {
+    1082           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1083             :   }
+    1084             : }
+    1085             : /*//}*/
+    1086             : 
+    1087             : /*//{ getCorrectionFromPoseStamped() */
+    1088             : template <int n_measurements>
+    1089           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoseStamped(
+    1090             :     const geometry_msgs::PoseStampedConstPtr msg) {
+    1091             : 
+    1092           0 :   switch (est_type_) {
+    1093             : 
+    1094             :     // handle lateral estimators
+    1095           0 :     case EstimatorType_t::LATERAL: {
+    1096             : 
+    1097           0 :       switch (state_id_) {
+    1098             : 
+    1099           0 :         case StateId_t::POSITION: {
+    1100           0 :           measurement_t measurement;
+    1101           0 :           measurement(0) = msg->pose.position.x;
+    1102           0 :           measurement(1) = msg->pose.position.y;
+    1103           0 :           return measurement;
+    1104             :           break;
+    1105             :         }
+    1106             : 
+    1107           0 :         default: {
+    1108           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1109           0 :           return {};
+    1110             :         }
+    1111             :       }
+    1112             :       break;
+    1113             :     }
+    1114             : 
+    1115             :     // handle altitude estimators
+    1116           0 :     case EstimatorType_t::ALTITUDE: {
+    1117             : 
+    1118           0 :       switch (state_id_) {
+    1119             : 
+    1120           0 :         case StateId_t::POSITION: {
+    1121           0 :           measurement_t measurement;
+    1122           0 :           measurement(0) = msg->pose.position.z;
+    1123           0 :           return measurement;
+    1124             :           break;
+    1125             :         }
+    1126             : 
+    1127           0 :         default: {
+    1128           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1129           0 :           return {};
+    1130             :         }
+    1131             :       }
+    1132             :       break;
+    1133             :     }
+    1134             : 
+    1135             :     // handle heading estimators
+    1136           0 :     case EstimatorType_t::HEADING: {
+    1137             : 
+    1138           0 :       switch (state_id_) {
+    1139             : 
+    1140           0 :         case StateId_t::POSITION: {
+    1141           0 :           measurement_t measurement;
+    1142             :           try {
+    1143             :             // obtain heading from orientation
+    1144           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.orientation).getHeading();
+    1145             :             // unwrap heading wrt previous measurement
+    1146           0 :             if (got_first_hdg_measurement_) {
+    1147           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+    1148             :             } else {
+    1149           0 :               got_first_hdg_measurement_ = true;
+    1150             :             }
+    1151           0 :             prev_hdg_measurement_ = measurement;
+    1152           0 :             return measurement;
+    1153             :           }
+    1154           0 :           catch (...) {
+    1155           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+    1156           0 :             return {};
+    1157             :           }
+    1158             :           break;
+    1159             :         }
+    1160             : 
+    1161           0 :         default: {
+    1162           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1163           0 :           return {};
+    1164             :         }
+    1165             :       }
+    1166             :       break;
+    1167             :     }
+    1168             :   }
+    1169             : 
+    1170           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1171           0 :   return {};
+    1172             : }
+    1173             : /*//}*/
+    1174             : 
+    1175             : /*//{ callbackRange() */
+    1176             : template <int n_measurements>
+    1177      309437 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+    1178             : 
+    1179      309437 :   if (!is_initialized_) {
+    1180           0 :     return;
+    1181             :   }
+    1182             : 
+    1183      308677 :   auto res = getCorrectionFromRange(msg);
+    1184      310440 :   if (res) {
+    1185      305392 :     applyCorrection(res.value(), msg->header.stamp);
+    1186             :   }
+    1187             : }
+    1188             : /*//}*/
+    1189             : 
+    1190             : /*//{ getCorrectionFromRange() */
+    1191             : template <int n_measurements>
+    1192      314021 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+    1193             : 
+    1194      314021 :   if (!range_enabled_) {
+    1195           0 :     ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+    1196           0 :     return {};
+    1197             :   }
+    1198             : 
+    1199      314021 :   if (!std::isfinite(msg->range)) {
+    1200           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+    1201           0 :     return {};
+    1202             :   }
+    1203             : 
+    1204      313551 :   const double eps = 1e-3;
+    1205      313551 :   if (msg->range <= msg->min_range + eps || msg->range >= msg->max_range - eps) {
+    1206        4547 :     ROS_WARN_THROTTLE(1.0, "[%s]: range measurement %.2f outside of its valid range (%.2f, %.2f)", ros::this_node::getName().c_str(), msg->range,
+    1207             :                       msg->min_range, msg->max_range);
+    1208        4557 :     return {};
+    1209             :   }
+    1210             : 
+    1211      620284 :   geometry_msgs::PoseStamped range_point;
+    1212             : 
+    1213      308332 :   range_point.header           = msg->header;
+    1214      310963 :   range_point.pose.position.x  = msg->range;
+    1215      307733 :   range_point.pose.position.y  = 0;
+    1216      307733 :   range_point.pose.position.z  = 0;
+    1217      307733 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1218             : 
+    1219      620846 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+    1220             : 
+    1221      311745 :   Correction::measurement_t measurement;
+    1222             : 
+    1223      311742 :   if (res) {
+    1224      309924 :     measurement(0) = -res.value().pose.position.z;
+    1225      309915 :     return measurement;
+    1226             :   } else {
+    1227        1821 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform range measurement to %s. Not using this correction.", getPrintName().c_str(),
+    1228             :                        ch_->frames.ns_fcu_untilted.c_str());
+    1229        1821 :     return {};
+    1230             :   }
+    1231             : }
+    1232             : /*//}*/
+    1233             : 
+    1234             : /*//{ callbackImu() */
+    1235             : template <int n_measurements>
+    1236           0 : void Correction<n_measurements>::callbackImu(const sensor_msgs::Imu::ConstPtr msg) {
+    1237             : 
+    1238           0 :   if (!is_initialized_) {
+    1239           0 :     return;
+    1240             :   }
+    1241             : 
+    1242           0 :   auto res = getCorrectionFromImu(msg);
+    1243           0 :   if (res) {
+    1244           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1245             :   } else {
+    1246           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Imu msg", getPrintName().c_str());
+    1247             :   }
+    1248             : }
+    1249             : /*//}*/
+    1250             : 
+    1251             : /*//{ getCorrectionFromImu() */
+    1252             : template <int n_measurements>
+    1253           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromImu(const sensor_msgs::ImuConstPtr msg) {
+    1254             : 
+    1255           0 :   switch (est_type_) {
+    1256             : 
+    1257             :     // handle lateral estimators
+    1258           0 :     case EstimatorType_t::LATERAL: {
+    1259             : 
+    1260           0 :       switch (state_id_) {
+    1261             : 
+    1262           0 :         case StateId_t::ACCELERATION: {
+    1263           0 :           if (is_in_body_frame_) {
+    1264           0 :             auto res = getVecInFrame(msg->linear_acceleration, msg->header, ns_frame_id_ + "_att_only");
+    1265           0 :             if (res) {
+    1266           0 :               measurement_t measurement;
+    1267           0 :               measurement = res.value();
+    1268           0 :               return measurement;
+    1269             :             } else {
+    1270           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain IMU acceleration in frame: %s", getPrintName().c_str(), (ns_frame_id_ + "_att_only").c_str());
+    1271           0 :               return {};
+    1272             :             }
+    1273             :           } else {
+    1274           0 :             measurement_t measurement;
+    1275           0 :             measurement(0) = msg->linear_acceleration.x;
+    1276           0 :             measurement(1) = msg->linear_acceleration.y;
+    1277           0 :             return measurement;
+    1278             :           }
+    1279             :           break;
+    1280             :         }
+    1281             : 
+    1282           0 :         default: {
+    1283           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1284           0 :           return {};
+    1285             :         }
+    1286             :       }
+    1287             :       break;
+    1288             :     }
+    1289             : 
+    1290             :     // handle altitude estimators
+    1291           0 :     case EstimatorType_t::ALTITUDE: {
+    1292             : 
+    1293           0 :       switch (state_id_) {
+    1294             : 
+    1295           0 :         case StateId_t::ACCELERATION: {
+    1296           0 :           if (is_in_body_frame_) {
+    1297           0 :             auto res = getZVelUntilted(msg->linear_acceleration, msg->header);
+    1298           0 :             if (res) {
+    1299           0 :               measurement_t measurement;
+    1300           0 :               measurement = res.value();
+    1301           0 :               measurement(0) -= gravity_norm_;
+    1302           0 :               return measurement;
+    1303             :             } else {
+    1304           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain IMU Z acceleration", getPrintName().c_str());
+    1305           0 :               return {};
+    1306             :             }
+    1307             :           } else {
+    1308           0 :             measurement_t measurement;
+    1309           0 :             measurement(0) = msg->linear_acceleration.z - gravity_norm_;
+    1310           0 :             return measurement;
+    1311             :           }
+    1312             :           break;
+    1313             :         }
+    1314             : 
+    1315           0 :         default: {
+    1316           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1317           0 :           return {};
+    1318             :         }
+    1319             :       }
+    1320             :       break;
+    1321             :     }
+    1322             : 
+    1323             :     // handle heading estimators
+    1324           0 :     case EstimatorType_t::HEADING: {
+    1325             : 
+    1326           0 :       switch (state_id_) {
+    1327             : 
+    1328           0 :         case StateId_t::VELOCITY: {
+    1329           0 :           geometry_msgs::Quaternion orientation;
+    1330           0 :           auto                      res = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1331           0 :           if (res) {
+    1332           0 :             orientation = res.value().transform.rotation;
+    1333             :           } else {
+    1334           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1335             :                                ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1336           0 :             return {};
+    1337             :           }
+    1338             : 
+    1339           0 :           measurement_t measurement;
+    1340           0 :           measurement(0) = mrs_lib::AttitudeConverter(orientation).getHeadingRate(msg->angular_velocity);
+    1341           0 :           return measurement;
+    1342             :           break;
+    1343             :         }
+    1344             : 
+    1345           0 :         default: {
+    1346           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1347           0 :           return {};
+    1348             :         }
+    1349             :       }
+    1350             :       break;
+    1351             :     }
+    1352             :   }
+    1353           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1354           0 :   return {};
+    1355             : }
+    1356             : /*//}*/
+    1357             : 
+    1358             : /*//{ callbackRtk() */
+    1359             : template <int n_measurements>
+    1360        5585 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+    1361             : 
+    1362        5585 :   if (!is_initialized_) {
+    1363           0 :     return;
+    1364             :   }
+    1365             : 
+    1366        5582 :   auto res = getCorrectionFromRtk(msg);
+    1367        5591 :   if (res) {
+    1368        5584 :     applyCorrection(res.value(), msg->header.stamp);
+    1369             :   }
+    1370             : }
+    1371             : /*//}*/
+    1372             : 
+    1373             : /*//{ getCorrectionFromRtk() */
+    1374             : template <int n_measurements>
+    1375        5677 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1376             : 
+    1377       11359 :   geometry_msgs::PoseStamped rtk_pos;
+    1378             : 
+    1379        5672 :   if (!std::isfinite(msg->gps.latitude)) {
+    1380           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1381           0 :     return {};
+    1382             :   }
+    1383             : 
+    1384        5676 :   if (!std::isfinite(msg->gps.longitude)) {
+    1385           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1386           0 :     return {};
+    1387             :   }
+    1388             : 
+    1389        5668 :   if (!std::isfinite(msg->gps.altitude)) {
+    1390           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1391           0 :     return {};
+    1392             :   }
+    1393             : 
+    1394        5664 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+    1395           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+    1396           0 :     return {};
+    1397             :   }
+    1398             : 
+    1399        5666 :   rtk_pos.header = msg->header;
+    1400        5675 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1401        5635 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1402        5637 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1403             : 
+    1404        5664 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1405        5668 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1406             : 
+    1407        5669 :   Correction::measurement_t measurement;
+    1408             : 
+    1409             :   // transform the RTK position from antenna to FCU
+    1410        5668 :   auto res = transformRtkToFcu(rtk_pos);
+    1411        5682 :   if (res) {
+    1412        5682 :     rtk_pos.pose = res.value();
+    1413             :   } else {
+    1414           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+    1415           0 :     return {};
+    1416             :   }
+    1417             : 
+    1418        5682 :   switch (est_type_) {
+    1419             : 
+    1420             :     // handle lateral estimators
+    1421        3870 :     case EstimatorType_t::LATERAL: {
+    1422             : 
+    1423        3870 :       switch (state_id_) {
+    1424             : 
+    1425        3870 :         case StateId_t::POSITION: {
+    1426        3870 :           measurement(0) = rtk_pos.pose.position.x;
+    1427        3870 :           measurement(1) = rtk_pos.pose.position.y;
+    1428        3870 :           return measurement;
+    1429             :           break;
+    1430             :         }
+    1431             : 
+    1432           0 :         default: {
+    1433           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1434           0 :           return {};
+    1435             :         }
+    1436             :       }
+    1437             :       break;
+    1438             :     }
+    1439             : 
+    1440             :     // handle altitude estimators
+    1441        1812 :     case EstimatorType_t::ALTITUDE: {
+    1442             : 
+    1443        1812 :       switch (state_id_) {
+    1444             : 
+    1445        1812 :         case StateId_t::POSITION: {
+    1446        1812 :           measurement(0) = rtk_pos.pose.position.z;
+    1447        1812 :           if (!got_avg_init_z_) {
+    1448          22 :             getAvgInitZ(measurement(0));
+    1449          22 :             return {};
+    1450             :           }
+    1451        1790 :           measurement(0) -= init_z_avg_;
+    1452        1790 :           return measurement;
+    1453             :           break;
+    1454             :         }
+    1455             : 
+    1456           0 :         default: {
+    1457           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1458           0 :           return {};
+    1459             :         }
+    1460             :       }
+    1461             :       break;
+    1462             :     }
+    1463             : 
+    1464           0 :     case EstimatorType_t::HEADING: {
+    1465           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromRtk() switch", getPrintName().c_str());
+    1466           0 :       return {};
+    1467             :       break;
+    1468             :     }
+    1469             :   }
+    1470             : 
+    1471           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1472           0 :   return {};
+    1473             : }
+    1474             : /*//}*/
+    1475             : 
+    1476             : /*//{ callbackNavSatFix() */
+    1477             : template <int n_measurements>
+    1478           0 : void Correction<n_measurements>::callbackNavSatFix(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1479             : 
+    1480           0 :   if (!is_initialized_) {
+    1481           0 :     return;
+    1482             :   }
+    1483             : 
+    1484           0 :   auto res = getCorrectionFromNavSatFix(msg);
+    1485           0 :   if (res) {
+    1486           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1487             :   }
+    1488             : }
+    1489             : /*//}*/
+    1490             : 
+    1491             : /*//{ getCorrectionFromNavSatFix() */
+    1492             : template <int n_measurements>
+    1493           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromNavSatFix(
+    1494             :     const sensor_msgs::NavSatFixConstPtr msg) {
+    1495             : 
+    1496           0 :   geometry_msgs::PointStamped navsatfix_pos;
+    1497             : 
+    1498           0 :   if (!std::isfinite(msg->latitude)) {
+    1499           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1500           0 :     return {};
+    1501             :   }
+    1502             : 
+    1503           0 :   if (!std::isfinite(msg->longitude)) {
+    1504           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1505           0 :     return {};
+    1506             :   }
+    1507             : 
+    1508           0 :   if (!std::isfinite(msg->altitude)) {
+    1509           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1510           0 :     return {};
+    1511             :   }
+    1512             : 
+    1513           0 :   if (msg->status.status == sensor_msgs::NavSatStatus::STATUS_NO_FIX) {
+    1514           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NavSatFix has no GNSS fix!!!", getPrintName().c_str());
+    1515           0 :     return {};
+    1516             :   }
+    1517             : 
+    1518           0 :   navsatfix_pos.header = msg->header;
+    1519           0 :   mrs_lib::UTM(msg->latitude, msg->longitude, &navsatfix_pos.point.x, &navsatfix_pos.point.y);
+    1520           0 :   navsatfix_pos.point.x -= ch_->world_origin.x;
+    1521           0 :   navsatfix_pos.point.y -= ch_->world_origin.y;
+    1522           0 :   navsatfix_pos.point.z = msg->altitude;
+    1523             : 
+    1524           0 :   Correction::measurement_t measurement;
+    1525             : 
+    1526             :   // TODO transform position from GNSS antenna to FCU
+    1527             : 
+    1528           0 :   switch (est_type_) {
+    1529             : 
+    1530             :     // handle lateral estimators
+    1531           0 :     case EstimatorType_t::LATERAL: {
+    1532             : 
+    1533           0 :       switch (state_id_) {
+    1534             : 
+    1535           0 :         case StateId_t::POSITION: {
+    1536           0 :           measurement(0) = navsatfix_pos.point.x;
+    1537           0 :           measurement(1) = navsatfix_pos.point.y;
+    1538           0 :           return measurement;
+    1539             :           break;
+    1540             :         }
+    1541             : 
+    1542           0 :         default: {
+    1543           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1544           0 :           return {};
+    1545             :         }
+    1546             :       }
+    1547             :       break;
+    1548             :     }
+    1549             : 
+    1550             :     // handle altitude estimators
+    1551           0 :     case EstimatorType_t::ALTITUDE: {
+    1552             : 
+    1553           0 :       switch (state_id_) {
+    1554             : 
+    1555           0 :         case StateId_t::POSITION: {
+    1556           0 :           measurement(0) = navsatfix_pos.point.z;
+    1557           0 :           if (!got_avg_init_z_) {
+    1558           0 :             getAvgInitZ(measurement(0));
+    1559           0 :             return {};
+    1560             :           }
+    1561           0 :           measurement(0) -= init_z_avg_;
+    1562           0 :           return measurement;
+    1563             :           break;
+    1564             :         }
+    1565             : 
+    1566           0 :         default: {
+    1567           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1568           0 :           return {};
+    1569             :         }
+    1570             :       }
+    1571             :       break;
+    1572             :     }
+    1573             : 
+    1574           0 :     case EstimatorType_t::HEADING: {
+    1575           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1576           0 :       return {};
+    1577             :       break;
+    1578             :     }
+    1579             :   }
+    1580             : 
+    1581           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1582           0 :   return {};
+    1583             : }
+    1584             : /*//}*/
+    1585             : 
+    1586             : /*//{ callbackMagHeading() */
+    1587             : template <int n_measurements>
+    1588           0 : void Correction<n_measurements>::callbackMagHeading(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+    1589             : 
+    1590           0 :   if (!is_initialized_) {
+    1591           0 :     return;
+    1592             :   }
+    1593             : 
+    1594           0 :   auto res = getCorrectionFromMagHeading(msg);
+    1595           0 :   if (res) {
+    1596           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1597             :   } else {
+    1598           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Float64Stamped msg", getPrintName().c_str());
+    1599             :   }
+    1600             : }
+    1601             : /*//}*/
+    1602             : 
+    1603             : /*//{ getCorrectionFromMagHeading() */
+    1604             : template <int n_measurements>
+    1605           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromMagHeading(
+    1606             :     const mrs_msgs::Float64StampedConstPtr msg) {
+    1607             : 
+    1608           0 :   switch (est_type_) {
+    1609             : 
+    1610             :     // handle lateral estimators
+    1611           0 :     case EstimatorType_t::LATERAL: {
+    1612             : 
+    1613           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATERAL in getCorrectionFromMagHeading() not implemented", getPrintName().c_str());
+    1614           0 :       return {};
+    1615             :       break;
+    1616             :     }
+    1617             : 
+    1618             :     // handle altitude estimators
+    1619           0 :     case EstimatorType_t::ALTITUDE: {
+    1620             : 
+    1621           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::ALTITUDE in getCorrectionFromMagHeading() not implemented", getPrintName().c_str());
+    1622           0 :       return {};
+    1623             :       break;
+    1624             :     }
+    1625             : 
+    1626             :     // handle heading estimators
+    1627           0 :     case EstimatorType_t::HEADING: {
+    1628             : 
+    1629           0 :       measurement_t measurement;
+    1630             : 
+    1631           0 :       const double mag_hdg = msg->value / 180 * M_PI;
+    1632             : 
+    1633           0 :       if (!got_first_mag_hdg_) {
+    1634           0 :         mag_hdg_previous_  = mag_hdg;
+    1635           0 :         got_first_mag_hdg_ = true;
+    1636             :       }
+    1637             : 
+    1638           0 :       measurement(0) = -mrs_lib::geometry::radians::unwrap(mag_hdg, mag_hdg_previous_) + M_PI / 2;  // may be weirdness of px4 heading (NED vs ENU or something)
+    1639           0 :       mag_hdg_previous_ = mag_hdg;
+    1640           0 :       return measurement;
+    1641             :     }
+    1642             :   }
+    1643             : 
+    1644           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1645           0 :   return {};
+    1646             : }
+    1647             : /*//}*/
+    1648             : 
+    1649             : /*//{ callbackMagField() */
+    1650             : template <int n_measurements>
+    1651           0 : void Correction<n_measurements>::callbackMagField(const sensor_msgs::MagneticField::ConstPtr msg) {
+    1652             : 
+    1653           0 :   if (!is_initialized_) {
+    1654           0 :     return;
+    1655             :   }
+    1656             : 
+    1657           0 :   auto res = getCorrectionFromMagField(msg);
+    1658           0 :   if (res) {
+    1659           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1660             :   } else {
+    1661           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from sensor_msgs::MagneticField msg", getPrintName().c_str());
+    1662             :   }
+    1663             : }
+    1664             : /*//}*/
+    1665             : 
+    1666             : /*//{ getCorrectionFromMagField() */
+    1667             : template <int n_measurements>
+    1668           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromMagField(
+    1669             :     const sensor_msgs::MagneticFieldConstPtr msg) {
+    1670             : 
+    1671           0 :   switch (est_type_) {
+    1672             : 
+    1673             :     // handle lateral estimators
+    1674           0 :     case EstimatorType_t::LATERAL: {
+    1675             : 
+    1676           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATERAL in getCorrectionFromMagField() not implemented", getPrintName().c_str());
+    1677           0 :       return {};
+    1678             :       break;
+    1679             :     }
+    1680             : 
+    1681             :     // handle altitude estimators
+    1682           0 :     case EstimatorType_t::ALTITUDE: {
+    1683             : 
+    1684           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::ALTITUDE in getCorrectionFromMagField() not implemented", getPrintName().c_str());
+    1685           0 :       return {};
+    1686             :       break;
+    1687             :     }
+    1688             : 
+    1689             :     // handle heading estimators
+    1690           0 :     case EstimatorType_t::HEADING: {
+    1691             : 
+    1692           0 :       Eigen::Matrix3d rot;
+    1693             : 
+    1694           0 :       auto res = ch_->transformer->getTransform(ch_->frames.ns_fcu, ch_->frames.ns_fcu_untilted, msg->header.stamp);
+    1695           0 :       if (res) {
+    1696           0 :         rot = Eigen::Matrix3d(mrs_lib::AttitudeConverter(res.value().transform.rotation));
+    1697             :       } else {
+    1698           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1699             :                            ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1700           0 :         return {};
+    1701             :       }
+    1702             : 
+    1703           0 :       const Eigen::Vector3d mag_vec(msg->magnetic_field.x, msg->magnetic_field.y, msg->magnetic_field.z);
+    1704           0 :       const Eigen::Vector3d proj_mag_field = rot * mag_vec;
+    1705             :       /* mrs_msgs::Float64Stamped hdg_stamped; */
+    1706             :       /* hdg_stamped.header = msg->header; */
+    1707             :       /* hdg_stamped.value = atan2(proj_mag_field.y(), proj_mag_field.x()); */
+    1708           0 :       const double mag_hdg = atan2(proj_mag_field.y(), proj_mag_field.x());
+    1709             : 
+    1710           0 :       measurement_t measurement;
+    1711             : 
+    1712             :       /* const double mag_hdg = msg->value / 180 * M_PI; */
+    1713             : 
+    1714           0 :       if (!got_first_mag_hdg_) {
+    1715           0 :         mag_hdg_previous_  = mag_hdg;
+    1716           0 :         got_first_mag_hdg_ = true;
+    1717             :       }
+    1718             : 
+    1719           0 :       measurement(0) = -mrs_lib::geometry::radians::unwrap(mag_hdg, mag_hdg_previous_) + M_PI / 2;  // may be weirdness of px4 heading (NED vs ENU or something)
+    1720             :       /* measurement(0) = mrs_lib::geometry::radians::unwrap(mag_hdg, mag_hdg_previous_); */
+    1721           0 :       mag_hdg_previous_ = mag_hdg;
+    1722           0 :       return measurement;
+    1723             :     }
+    1724             :   }
+    1725             : 
+    1726           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1727           0 :   return {};
+    1728             : }
+    1729             : /*//}*/
+    1730             : 
+    1731             : /*//{ callbackPoint() */
+    1732             : template <int n_measurements>
+    1733      214063 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1734             : 
+    1735      214063 :   if (!is_initialized_) {
+    1736           0 :     return;
+    1737             :   }
+    1738             : 
+    1739      214005 :   auto res = getCorrectionFromPoint(msg);
+    1740      213846 :   if (res) {
+    1741      213841 :     applyCorrection(res.value(), msg->header.stamp);
+    1742             :   }
+    1743             : }
+    1744             : /*//}*/
+    1745             : 
+    1746             : /*//{ getCorrectionFromPoint() */
+    1747             : template <int n_measurements>
+    1748      217898 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1749             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1750             : 
+    1751      217898 :   switch (est_type_) {
+    1752             : 
+    1753             :     // handle lateral estimators
+    1754      217884 :     case EstimatorType_t::LATERAL: {
+    1755             : 
+    1756      217884 :       switch (state_id_) {
+    1757             : 
+    1758      217877 :         case StateId_t::POSITION: {
+    1759      217877 :           measurement_t measurement;
+    1760      217733 :           measurement(0) = msg->point.x;
+    1761      217162 :           measurement(1) = msg->point.y;
+    1762      217556 :           return measurement;
+    1763             :           break;
+    1764             :         }
+    1765             : 
+    1766          19 :         default: {
+    1767          19 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1768           0 :           return {};
+    1769             :         }
+    1770             :       }
+    1771             :       break;
+    1772             :     }
+    1773             : 
+    1774             :     // handle altitude estimators
+    1775           0 :     case EstimatorType_t::ALTITUDE: {
+    1776             : 
+    1777           0 :       switch (state_id_) {
+    1778             : 
+    1779           0 :         case StateId_t::POSITION: {
+    1780           0 :           measurement_t measurement;
+    1781           0 :           measurement(0) = msg->point.z;
+    1782           0 :           return measurement;
+    1783             :           break;
+    1784             :         }
+    1785             : 
+    1786           0 :         default: {
+    1787           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1788           0 :           return {};
+    1789             :         }
+    1790             :       }
+    1791             :       break;
+    1792             :     }
+    1793             : 
+    1794          16 :     default: {
+    1795          16 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1796           0 :       return {};
+    1797             :     }
+    1798             :   }
+    1799             : 
+    1800             : 
+    1801             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1802             :   return {};
+    1803             : }
+    1804             : /*//}*/
+    1805             : 
+    1806             : /*//{ callbackVector() */
+    1807             : template <int n_measurements>
+    1808      235308 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1809             : 
+    1810      235308 :   if (!is_initialized_) {
+    1811           0 :     return;
+    1812             :   }
+    1813             : 
+    1814      235215 :   auto res = getCorrectionFromVector(msg);
+    1815      235452 :   if (res) {
+    1816      235418 :     applyCorrection(res.value(), msg->header.stamp);
+    1817             :   } else {
+    1818          33 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Vector3Stamped msg", getPrintName().c_str());
+    1819             :   }
+    1820             : }
+    1821             : /*//}*/
+    1822             : 
+    1823             : /*//{ getCorrectionFromVector() */
+    1824             : template <int n_measurements>
+    1825      235505 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1826             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1827             : 
+    1828      235505 :   switch (est_type_) {
+    1829             : 
+    1830             :     // handle lateral estimators
+    1831       11092 :     case EstimatorType_t::LATERAL: {
+    1832             : 
+    1833       11092 :       switch (state_id_) {
+    1834             : 
+    1835       11094 :         case StateId_t::VELOCITY: {
+    1836       11094 :           auto res = getVecInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1837       11096 :           if (res) {
+    1838       11038 :             measurement_t measurement;
+    1839       11039 :             measurement = res.value();
+    1840       11039 :             return measurement;
+    1841             :           } else {
+    1842          57 :             return {};
+    1843             :           }
+    1844             :           break;
+    1845             :         }
+    1846             : 
+    1847           0 :         default: {
+    1848           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1849           0 :           return {};
+    1850             :         }
+    1851             :       }
+    1852             :       break;
+    1853             :     }
+    1854             : 
+    1855             :     // handle altitude estimators
+    1856      224399 :     case EstimatorType_t::ALTITUDE: {
+    1857             : 
+    1858      224399 :       switch (state_id_) {
+    1859             : 
+    1860      224424 :         case StateId_t::VELOCITY: {
+    1861      224424 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1862      224506 :           if (res) {
+    1863      224497 :             measurement_t measurement;
+    1864      224499 :             measurement = res.value();
+    1865      224496 :             return measurement;
+    1866             :           } else {
+    1867           9 :             ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain untilted Z velocity", getPrintName().c_str());
+    1868           7 :             return {};
+    1869             :           }
+    1870             :           break;
+    1871             :         }
+    1872             : 
+    1873           0 :         default: {
+    1874           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1875           0 :           return {};
+    1876             :         }
+    1877             :       }
+    1878             :       break;
+    1879             :     }
+    1880             : 
+    1881             :     // handle heading estimators
+    1882           0 :     case EstimatorType_t::HEADING: {
+    1883             : 
+    1884           0 :       switch (state_id_) {
+    1885             : 
+    1886           0 :         case StateId_t::VELOCITY: {
+    1887             :           try {
+    1888           0 :             if (!sh_orientation_.hasMsg()) {
+    1889           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+    1890             :                                 orientation_topic_.c_str());
+    1891           0 :               return {};
+    1892             :             }
+    1893           0 :             measurement_t measurement;
+    1894           0 :             measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    1895           0 :             return measurement;
+    1896             :           }
+    1897           0 :           catch (...) {
+    1898           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    1899           0 :             return {};
+    1900             :           }
+    1901             :           break;
+    1902             :         }
+    1903             : 
+    1904           0 :         default: {
+    1905           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1906           0 :           return {};
+    1907             :         }
+    1908             :       }
+    1909             :       break;
+    1910             :     }
+    1911             :   }
+    1912             : 
+    1913          24 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1914           0 :   return {};
+    1915             : }
+    1916             : /*//}*/
+    1917             : 
+    1918             : /*//{ getCorrectionFromQuat() */
+    1919             : template <int n_measurements>
+    1920           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat([
+    1921             :     [maybe_unused]] const geometry_msgs::QuaternionStampedConstPtr msg) {
+    1922             : 
+    1923           0 :   switch (est_type_) {
+    1924             : 
+    1925             :       // handle lateral estimators
+    1926             :       /* case EstimatorType_t::LATERAL: { */
+    1927             : 
+    1928             :       /*   default: { */
+    1929             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1930             :       /*     return {}; */
+    1931             :       /*   } break; */
+    1932             :       /* } */
+    1933             : 
+    1934             :       /* // handle altitude estimators */
+    1935             :       /* case EstimatorType_t::ALTITUDE: { */
+    1936             : 
+    1937             :       /* default: { */
+    1938             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1939             :       /*     return {}; */
+    1940             :       /*   } break; */
+    1941             :       /* } */
+    1942             : 
+    1943             :       /* // handle heading estimators */
+    1944             :       /* case EstimatorType_t::HEADING: { */
+    1945             : 
+    1946             :       /*   switch (state_id_) { */
+    1947             : 
+    1948             :       /*     /1* default: { *1/ */
+    1949             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1950             :       /*       return {}; */
+    1951             :       /*     } */
+    1952             :       /*   } */
+    1953             :     default: {
+    1954           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1955           0 :       return {};
+    1956             :     }
+    1957             :   }
+    1958             : 
+    1959             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1960             :   return {};
+    1961             : }
+    1962             : /*//}*/
+    1963             : 
+    1964             : /*//{ applyCorrection() */
+    1965             : template <int n_measurements>
+    1966      760553 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1967             : 
+    1968             :   {
+    1969      760553 :     std::scoped_lock lock(mtx_msg_time_);
+    1970      760321 :     if (first_timestamp_) {
+    1971         412 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1972         412 :       msg_time_        = stamp;
+    1973         412 :       healthy_time_    = ros::Time(0);
+    1974         413 :       first_timestamp_ = false;
+    1975             :     }
+    1976             : 
+    1977      760192 :     prev_msg_time_ = msg_time_;
+    1978      760192 :     msg_time_      = stamp;
+    1979      760192 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1980             :   }
+    1981             : 
+    1982      760129 :   MeasurementStamped meas_stamped;
+    1983      760218 :   meas_stamped.value = meas;
+    1984      760248 :   meas_stamped.stamp = stamp;
+    1985      760248 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1986      760642 :   if (process(meas_stamped.value)) {
+    1987      752057 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1988      752398 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1989             :   }
+    1990      759957 : }
+    1991             : /*//}*/
+    1992             : 
+    1993             : /* //{ callbackToggleRange() */
+    1994             : template <int n_measurements>
+    1995           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1996             : 
+    1997           0 :   if (!is_initialized_) {
+    1998           0 :     return false;
+    1999             :   }
+    2000             : 
+    2001           0 :   if (!range_enabled_ && req.data) {
+    2002           0 :     processors_["saturate"]->toggle(true);
+    2003             :   }
+    2004             : 
+    2005           0 :   range_enabled_ = req.data;
+    2006             : 
+    2007             :   // after enabling range we want to start correcting the altitude slowly
+    2008             : 
+    2009           0 :   res.success = true;
+    2010           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    2011             : 
+    2012           0 :   if (range_enabled_) {
+    2013             : 
+    2014           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    2015             : 
+    2016             :   } else {
+    2017             : 
+    2018           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    2019             :   }
+    2020             : 
+    2021           0 :   return true;
+    2022             : }
+    2023             : 
+    2024             : //}
+    2025             : 
+    2026             : /*//{ getZVelUntilted() */
+    2027             : template <int n_measurements>
+    2028      224417 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    2029             :                                                                                                               const std_msgs::Header&       header) {
+    2030             : 
+    2031             :   // untilt the desired vector
+    2032      448923 :   geometry_msgs::PointStamped vel;
+    2033      224227 :   vel.point.x = msg.x;
+    2034      224227 :   vel.point.y = msg.y;
+    2035      224227 :   vel.point.z = msg.z;
+    2036      224227 :   vel.header  = header;
+    2037             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    2038      224361 :   vel.header.stamp = header.stamp;
+    2039             : 
+    2040      448867 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    2041      224510 :   if (res) {
+    2042      224503 :     measurement_t measurement;
+    2043      224502 :     measurement(0) = res.value().point.z;
+    2044      224500 :     return measurement;
+    2045             :   } else {
+    2046           7 :     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());
+    2047           7 :     return {};
+    2048             :   }
+    2049             : }
+    2050             : /*//}*/
+    2051             : 
+    2052             : /*//{ getVecInFrame() */
+    2053             : template <int n_measurements>
+    2054       11095 : std::optional<geometry_msgs::Vector3> Correction<n_measurements>::transformVecToFrame(const geometry_msgs::Vector3& vec_in,
+    2055             :                                                                                       const std_msgs::Header& source_header, const std::string target_frame) {
+    2056             : 
+    2057       22191 :   geometry_msgs::Vector3Stamped vec;
+    2058       11093 :   vec.header = source_header;
+    2059       11093 :   vec.vector = vec_in;
+    2060             : 
+    2061       22188 :   auto res = ch_->transformer->transformSingle(vec, target_frame);
+    2062       11096 :   if (res) {
+    2063       11039 :     return res.value().vector;
+    2064             :   } else {
+    2065          57 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of vector from %s to %s failed.", getPrintName().c_str(), vec.header.frame_id.c_str(), target_frame.c_str());
+    2066          57 :     return {};
+    2067             :   }
+    2068             : }
+    2069             : 
+    2070             : template <int n_measurements>
+    2071       11095 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVecInFrame(const geometry_msgs::Vector3& vec_in,
+    2072             :                                                                                                             const std_msgs::Header&       source_header,
+    2073             :                                                                                                             const std::string             target_frame) {
+    2074             : 
+    2075       11095 :   measurement_t measurement;
+    2076             : 
+    2077       11091 :   auto res = transformVecToFrame(vec_in, source_header, target_frame);
+    2078       11095 :   if (res) {
+    2079       11037 :     measurement(0) = res.value().x;
+    2080       11038 :     measurement(1) = res.value().y;
+    2081       11038 :     return measurement;
+    2082             :   } else {
+    2083          57 :     return {};
+    2084             :   }
+    2085             : }
+    2086             : /*//}*/
+    2087             : 
+    2088             : /*//{ getInFrame() */
+    2089             : template <int n_measurements>
+    2090           0 : std::optional<geometry_msgs::Point> Correction<n_measurements>::getInFrame(const geometry_msgs::Point& pt_in, const std_msgs::Header& source_header,
+    2091             :                                                                            const std::string target_frame) {
+    2092             : 
+    2093           0 :   geometry_msgs::PointStamped pt;
+    2094           0 :   pt.header = source_header;
+    2095           0 :   pt.point  = pt_in;
+    2096             : 
+    2097           0 :   geometry_msgs::PointStamped transformed_pt;
+    2098           0 :   auto                        res = ch_->transformer->transformSingle(pt, target_frame);
+    2099           0 :   if (res) {
+    2100           0 :     transformed_pt = res.value();
+    2101           0 :     geometry_msgs::Point pt_out;
+    2102           0 :     pt_out = transformed_pt.point;
+    2103           0 :     return pt_out;
+    2104             :   } else {
+    2105           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of point from %s to %s failed.", getPrintName().c_str(), pt.header.frame_id.c_str(), target_frame.c_str());
+    2106           0 :     return {};
+    2107             :   }
+    2108             : }
+    2109             : /*//}*/
+    2110             : 
+    2111             : /*//{ transformRtkToFcu() */
+    2112             : template <int n_measurements>
+    2113        5678 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    2114             : 
+    2115       11360 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    2116             : 
+    2117             :   // inject current orientation into rtk pose
+    2118       11354 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    2119        5682 :   if (res1) {
+    2120        5682 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    2121             :   } else {
+    2122           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    2123             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    2124           0 :     return {};
+    2125             :   }
+    2126             : 
+    2127             :   // invert tf
+    2128        5682 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    2129       11364 :   geometry_msgs::PoseStamped utm_in_antenna;
+    2130        5682 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    2131        5682 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    2132        5682 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    2133             : 
+    2134             :   // transform to fcu
+    2135       11364 :   geometry_msgs::PoseStamped utm_in_fcu;
+    2136        5682 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    2137        5682 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    2138       11364 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    2139             : 
+    2140        5682 :   if (res2) {
+    2141        5682 :     utm_in_fcu = res2.value();
+    2142             :   } else {
+    2143           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());
+    2144           0 :     return {};
+    2145             :   }
+    2146             : 
+    2147             :   // invert tf
+    2148        5682 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    2149        5682 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    2150             : 
+    2151        5682 :   return fcu_in_utm;
+    2152             : }
+    2153             : /*//}*/
+    2154             : 
+    2155             : /*//{ getAvgInitZ() */
+    2156             : template <int n_measurements>
+    2157          22 : void Correction<n_measurements>::getAvgInitZ(const double z) {
+    2158             : 
+    2159          22 :   if (!got_avg_init_z_) {
+    2160             : 
+    2161          22 :     double z_avg = init_z_avg_ / got_z_counter_;
+    2162             : 
+    2163          22 :     if (got_z_counter_ < 10 || (got_z_counter_ < 300 && std::fabs(z - z_avg) > 0.1)) {
+    2164             : 
+    2165          20 :       init_z_avg_ += z;
+    2166          20 :       got_z_counter_++;
+    2167          20 :       z_avg = init_z_avg_ / got_z_counter_;
+    2168          20 :       ROS_INFO("[%s]: AMSL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_z_counter_, z, z_avg);
+    2169          20 :       return;
+    2170             : 
+    2171             :     } else {
+    2172             : 
+    2173           2 :       init_z_avg_     = z_avg;
+    2174           2 :       got_avg_init_z_ = true;
+    2175           2 :       ROS_INFO("[%s]: AMSL altitude avg: %f", getPrintName().c_str(), z_avg);
+    2176             :     }
+    2177             :   }
+    2178             : }
+    2179             : /*//}*/
+    2180             : 
+    2181             : /*//{ checkMsgDelay() */
+    2182             : template <int n_measurements>
+    2183             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    2184             : 
+    2185             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    2186             :   if (delay > msg_delay_warn_limit_) {
+    2187             :     if (delay > msg_delay_limit_) {
+    2188             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    2189             :       is_delay_ok_ = false;
+    2190             :     } else {
+    2191             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    2192             :       is_delay_ok_ = true;
+    2193             :     }
+    2194             :   } else {
+    2195             :     is_delay_ok_ = true;
+    2196             :   }
+    2197             :   publishDelay(delay);
+    2198             : }
+    2199             : /*//}*/
+    2200             : 
+    2201             : /*//{ isTimestampOk() */
+    2202             : template <int n_measurements>
+    2203             : bool Correction<n_measurements>::isTimestampOk() {
+    2204             : 
+    2205             :   if (first_timestamp_) {
+    2206             :     return true;
+    2207             :   }
+    2208             : 
+    2209             :   ros::Time msg_time, prev_msg_time;
+    2210             :   {
+    2211             :     std::scoped_lock lock(mtx_msg_time_);
+    2212             :     msg_time      = msg_time_;
+    2213             :     prev_msg_time = prev_msg_time_;
+    2214             :   }
+    2215             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    2216             : 
+    2217             :   if (msg_time.toSec() <= 0.0) {
+    2218             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    2219             :     return false;
+    2220             :   }
+    2221             : 
+    2222             :   if (delta <= 0.0) {
+    2223             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    2224             :     return true;
+    2225             :   }
+    2226             : 
+    2227             :   if (delta < 0.001) {
+    2228             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    2229             :     return true;
+    2230             :   }
+    2231             : 
+    2232             :   if (delta > time_since_last_msg_limit_) {
+    2233             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    2234             :     return false;
+    2235             :   }
+    2236             : 
+    2237             :   return true;
+    2238             : }  // namespace mrs_uav_state_estimators
+    2239             : /*//}*/
+    2240             : 
+    2241             : /*//{ isMsgComing() */
+    2242             : template <int n_measurements>
+    2243      751844 : bool Correction<n_measurements>::isMsgComing() {
+    2244             : 
+    2245      751844 :   if (first_timestamp_) {
+    2246           0 :     return true;
+    2247             :   }
+    2248             : 
+    2249      751839 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    2250      751917 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    2251             : 
+    2252      751875 :   if (msg_time.toSec() <= 0.0) {
+    2253           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    2254           0 :     return false;
+    2255             :   }
+    2256             : 
+    2257      751958 :   if (delta > time_since_last_msg_limit_) {
+    2258           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    2259           0 :     return false;
+    2260             :   }
+    2261             : 
+    2262      751958 :   return true;
+    2263             : }  // namespace mrs_uav_state_estimators
+    2264             : /*//}*/
+    2265             : 
+    2266             : /*//{ createProcessorFromName() */
+    2267             : template <int n_measurements>
+    2268         390 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    2269             : 
+    2270         390 :   if (name == "median_filter") {
+    2271          91 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2272         299 :   } else if (name == "saturate") {
+    2273          97 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    2274         202 :   } else if (name == "excessive_tilt") {
+    2275          91 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2276         111 :   } else if (name == "tf_to_world") {
+    2277         111 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2278           0 :   } else if (name == "mag_declination") {
+    2279           0 :     return std::make_shared<ProcMagDeclination<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2280             :   } else {
+    2281           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    2282           0 :     ros::shutdown();
+    2283             :   }
+    2284           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    2285             : }
+    2286             : /*//}*/
+    2287             : 
+    2288             : /*//{ process() */
+    2289             : template <int n_measurements>
+    2290      769042 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    2291             : 
+    2292      769042 :   bool ok_flag   = true;
+    2293      769042 :   bool fuse_flag = true;
+    2294             : 
+    2295     1473423 :   for (auto proc_name :
+    2296             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    2297             :     /* bool is_ok, should_fuse; */
+    2298      704853 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    2299      704267 :     ok_flag &= is_ok;
+    2300      704267 :     fuse_flag &= should_fuse;
+    2301             :   }
+    2302      768653 :   if (fuse_flag) {
+    2303      752504 :     if (!ok_flag) {
+    2304         310 :       setR(default_R_ * R_coeff_);
+    2305         310 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    2306         310 :       return true;
+    2307             :     } else {
+    2308      752194 :       setR(default_R_);
+    2309      752182 :       return true;
+    2310             :     }
+    2311             :   }
+    2312       16149 :   return false;
+    2313             : }
+    2314             : /*//}*/
+    2315             : 
+    2316             : /*//{ resetProcessors() */
+    2317             : template <int n_measurements>
+    2318           0 : void Correction<n_measurements>::resetProcessors() {
+    2319             : 
+    2320           0 :   for (auto proc_name :
+    2321             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    2322             :     /* bool is_ok, should_fuse; */
+    2323           0 :     processors_[proc_name]->reset();
+    2324             :   }
+    2325           0 : }
+    2326             : /*//}*/
+    2327             : 
+    2328             : /*//{ publishCorrection() */
+    2329             : template <int n_measurements>
+    2330     1521436 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    2331             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    2332             : 
+    2333     1521436 :   if (!ch_->debug_topics.correction) {
+    2334           0 :     return;
+    2335             :   }
+    2336             : 
+    2337     3042839 :   mrs_msgs::EstimatorCorrection msg;
+    2338     1520449 :   msg.header.stamp    = measurement_stamped.stamp;
+    2339     1520449 :   msg.header.frame_id = ns_frame_id_;
+    2340     1521467 :   msg.name            = name_;
+    2341     1521570 :   msg.estimator_name  = est_name_;
+    2342     1521594 :   msg.state_id        = state_id_;
+    2343     1521594 :   msg.covariance.resize(n_measurements * n_measurements);
+    2344     3498979 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    2345     1978003 :     msg.state.push_back(measurement_stamped.value(i));
+    2346     1979058 :     msg.covariance[n_measurements * i + i] = getR();
+    2347             :   }
+    2348             : 
+    2349     1520763 :   ph_corr.publish(msg);
+    2350             : }
+    2351             : /*//}*/
+    2352             : 
+    2353             : /*//{ publishDelay() */
+    2354             : template <int n_measurements>
+    2355             : void Correction<n_measurements>::publishDelay(const double delay) {
+    2356             : 
+    2357             :   if (!ch_->debug_topics.corr_delay) {
+    2358             :     return;
+    2359             :   }
+    2360             : 
+    2361             :   mrs_msgs::Float64Stamped msg;
+    2362             :   msg.header.stamp    = ros::Time::now();
+    2363             :   msg.header.frame_id = ns_frame_id_;
+    2364             :   msg.value           = delay;
+    2365             : 
+    2366             :   ph_delay_.publish(msg);
+    2367             : }
+    2368             : /*//}*/
+    2369             : 
+    2370             : }  // namespace mrs_uav_state_estimators
+    2371             : 
+    2372             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html new file mode 100644 index 0000000000..44ec691c9b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html @@ -0,0 +1,613 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.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 + 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+ Overview +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..83a95944d3 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..a448ffc138 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,243 @@ + + + + + + + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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 varstep_lkf_t = mrs_lib::varstepLKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      44             :   using A_t           = lkf_t::A_t;
+      45             :   using B_t           = lkf_t::B_t;
+      46             :   using H_t           = lkf_t::H_t;
+      47             :   using Q_t           = lkf_t::Q_t;
+      48             :   using x_t           = lkf_t::x_t;
+      49             :   using P_t           = lkf_t::P_t;
+      50             :   using u_t           = lkf_t::u_t;
+      51             :   using z_t           = lkf_t::z_t;
+      52             :   using R_t           = lkf_t::R_t;
+      53             :   using statecov_t    = lkf_t::statecov_t;
+      54             : 
+      55             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      56             : 
+      57             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      58             : 
+      59             : private:
+      60             :   std::string parent_state_est_name_;
+      61             : 
+      62             :   double                                      dt_;
+      63             :   double                                      input_coeff_;
+      64             :   double                                      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<varstep_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(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      78             : 
+      79             :   z_t                innovation_;
+      80             :   mutable std::mutex mtx_innovation_;
+      81             : 
+      82             :   bool is_repredictor_enabled_;
+      83             :   int  rep_buffer_size_ = 200;
+      84             : 
+      85             :   const bool is_core_plugin_;
+      86             : 
+      87             :   std::vector<std::string>                                              correction_names_;
+      88             :   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
+      89             : 
+      90             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      91             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      92             :   std::atomic<bool>                                   is_input_ready_ = false;
+      93             : 
+      94             :   ros::Timer timer_update_;
+      95             :   void       timerUpdate(const ros::TimerEvent &event);
+      96             : 
+      97             :   ros::Timer timer_check_health_;
+      98             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      99             : 
+     100             :   void doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     101             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     102             : 
+     103             :   bool isConverged();
+     104             : 
+     105             :   Q_t                getQ();
+     106             :   mutable std::mutex mtx_Q_;
+     107             : 
+     108             :   mutable std::mutex mutex_last_valid_hdg_;
+     109             :   double             last_valid_hdg_;
+     110             : 
+     111             : public:
+     112           0 :   HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     113           0 :       : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     114           0 :   }
+     115             : 
+     116           0 :   ~HdgGeneric(void) {
+     117           0 :   }
+     118             : 
+     119             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     120             :   bool start(void) override;
+     121             :   bool pause(void) override;
+     122             :   bool reset(void) override;
+     123             : 
+     124             :   double getState(const int &state_idx_in) const override;
+     125             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     126             : 
+     127             :   void setState(const double &state_in, const int &state_idx_in) override;
+     128             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     129             : 
+     130             :   states_t getStates(void) const override;
+     131             :   void     setStates(const states_t &states_in) override;
+     132             : 
+     133             :   double getCovariance(const int &state_idx_in) const override;
+     134             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     135             : 
+     136             :   covariance_t getCovarianceMatrix(void) const override;
+     137             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     138             : 
+     139             :   double getInnovation(const int &state_idx) const override;
+     140             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     141             : 
+     142             :   double getLastValidHdg() const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             : 
+     153             :   std::string getNamespacedName() const;
+     154             : 
+     155             :   std::string getPrintName() const;
+     156             : };
+     157             : }  // namespace mrs_uav_state_estimators
+     158             : 
+     159             : #endif  // ESTIMATORS_HEADING_HDG_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f648f9d8d0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_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 + 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_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..c826730ad70614286d57a68cb29d1eed954df391 GIT binary patch literal 663 zcmV;I0%-k-P)4zK6(s~1FktrePxJa#)*WXO@}bs+5PYc2AyWg@7ASK1 zmo$>`V`ShNVzi=_j5E@Ga0&E!#xAr5cGX+pFeHTm>DC^BgH2eKUSeGGUW|YR z7&{Nn{v{A*73@1M0FWYBF}}EpfuKx5)^W|@6!sV!tj=T%G@_9|!6&8Y7|lqhO`wNH z;HZh3g-;(@)7!jR#8}J%xfo%I*N{%(K31_-x+M}G^;wH+^4D%7$DuvpqLY;~ z-0$njF*!iuxSFPdXk6j0=qfLdi_%n+A*+D#!T7|JPxr`>pUGyW&0YqINimidlfp*2 zo;|&|SkS7s)fC%t+fVx3t7C + + + + + + 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:2024-10-08 22:31:24Functions: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)115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2115
+
+
+ + + +
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..3c27727dff --- /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:2024-10-08 22:31:24Functions: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)115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2115
+
+
+ + + +
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..c23af168e0 --- /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:2024-10-08 22:31:24Functions: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         115 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70         115 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71         115 :   }
+      72             : 
+      73         230 :   ~HdgPassthrough(void) {
+      74         230 :   }
+      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..00fb793e08 --- /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:2024-10-08 22:31:24Functions: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&)115
+
+
+ + + +
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..4247b764d6 --- /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:2024-10-08 22:31:24Functions:11100.0 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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&)115
+
+
+ + + +
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..07d91cd8b0 --- /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:2024-10-08 22:31:24Functions: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         115 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23         115 :   }
+      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..64ab8fe571 --- /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:2024-10-08 22:31:24Functions: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..369596c292 --- /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:2024-10-08 22:31:24Functions: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..77210d363c --- /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:2024-10-08 22:31:24Functions: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..5deaced6d0 --- /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:2024-10-08 22:31:24Functions: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..9f3af3ff36 --- /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:2024-10-08 22:31:24Functions: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..29037d8aca --- /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:2024-10-08 22:31:24Functions: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..42e3244dbb --- /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:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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 +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
<unnamed>40.0 %382 / 95555.2 %48 / 87
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..76c1e771bd --- /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:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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 +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
<unnamed>40.0 %382 / 95555.2 %48 / 87
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..278fd0dc89 --- /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:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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 +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
<unnamed>40.0 %382 / 95555.2 %48 / 87
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..980cc82166 --- /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:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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 +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
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..ca7ecf0579 --- /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:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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
correction.h +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + 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..2a9fc1da69 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41699142.0 %
Date:2024-10-08 22:31:24Functions:6711160.4 %
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
correction.h +
40.0%40.0%
+ 		40.0 %382 / 95555.2 %48 / 87
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..ec17fa5409 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-10-08 22:31:24Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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 %6 / 6100.0 %3 / 3
<unnamed>100.0 %6 / 6100.0 %3 / 3
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+ + + 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..f949eef2dc --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-10-08 22:31:24Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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 %6 / 6100.0 %3 / 3
<unnamed>100.0 %6 / 6100.0 %3 / 3
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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/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.html new file mode 100644 index 0000000000..faca35c93b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-10-08 22:31:24Functions: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%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
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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/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-10-08 22:31:24Functions: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
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html new file mode 100644 index 0000000000..63f6e83880 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/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/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:1010100.0 %
Date:2024-10-08 22:31:24Functions: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
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html new file mode 100644 index 0000000000..02bff532c8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html @@ -0,0 +1,112 @@ + + + + + + + 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:1010100.0 %
Date:2024-10-08 22:31:24Functions: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
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
lateral_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/lateral/lat_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func-sort-c.html new file mode 100644 index 0000000000..3f0bcc708b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_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/lateral/lat_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/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-10-08 22:31:24Functions: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::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> ()>)115
mrs_uav_state_estimators::LatGeneric::~LatGeneric()115
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2115
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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.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html new file mode 100644 index 0000000000..b989e2894a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_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/lateral/lat_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:66100.0 %
Date:2024-10-08 22:31:24Functions: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::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> ()>)115
mrs_uav_state_estimators::LatGeneric::~LatGeneric()115
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2115
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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.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..64472aceb7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html @@ -0,0 +1,250 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:66100.0 %
Date:2024-10-08 22:31:24Functions: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 varstep_lkf_t = mrs_lib::varstepLKF<lat_generic::n_states, lat_generic::n_inputs, lat_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<varstep_lkf_t> rep_lkf_t;
+      55             : 
+      56             : private:
+      57             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      58             : 
+      59             :   std::string parent_state_est_name_;
+      60             : 
+      61             :   double                                      dt_;
+      62             :   double                                      input_coeff_, default_input_coeff_;
+      63             :   A_t                                         A_;
+      64             :   B_t                                         B_;
+      65             :   H_t                                         H_;
+      66             :   Q_t                                         Q_;
+      67             :   std::shared_ptr<lkf_t>                      lkf_;
+      68             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      69             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      70             :   mutable std::mutex                          mutex_lkf_;
+      71             :   statecov_t                                  sc_;
+      72             :   mutable std::mutex                          mutex_sc_;
+      73             : 
+      74             :   std::unique_ptr<drmgr_t> drmgr_;
+      75             :   void                     callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      76             : 
+      77             :   z_t                innovation_;
+      78             :   mutable std::mutex mtx_innovation_;
+      79             : 
+      80             :   bool          is_error_state_first_time_ = true;
+      81             :   ros::Duration error_state_duration_;
+      82             :   ros::Time     prev_time_in_error_state_;
+      83             : 
+      84             :   bool is_repredictor_enabled_;
+      85             :   int  rep_buffer_size_ = 200;
+      86             : 
+      87             :   const bool is_core_plugin_;
+      88             : 
+      89             :   std::vector<std::string>                                              correction_names_;
+      90             :   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
+      91             : 
+      92             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      93             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      94             :   std::atomic<bool>                                   is_input_ready_ = false;
+      95             : 
+      96             : 
+      97             :   std::function<std::optional<double>()>               fun_get_hdg_;
+      98             :   std::string                                          hdg_source_topic_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput> sh_hdg_state_;
+     100             :   std::atomic<bool>                                    is_hdg_state_ready_ = false;
+     101             : 
+     102             :   ros::Timer timer_update_;
+     103             :   void       timerUpdate(const ros::TimerEvent &event);
+     104             : 
+     105             :   ros::Timer timer_check_health_;
+     106             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     107             : 
+     108             : 
+     109             :   void doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     110             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     111             : 
+     112             :   bool isConverged();
+     113             : 
+     114             :   Q_t                getQ();
+     115             :   mutable std::mutex mtx_Q_;
+     116             : 
+     117             : public:
+     118         115 :   LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
+     119             :              std::function<std::optional<double>()> fun_get_hdg)
+     120         115 :       : LateralEstimator<lat_generic::n_states>(name, ns_frame_id),
+     121             :         parent_state_est_name_(parent_state_est_name),
+     122             :         is_core_plugin_(is_core_plugin),
+     123         115 :         fun_get_hdg_(fun_get_hdg) {
+     124         115 :   }
+     125             : 
+     126         230 :   ~LatGeneric(void) {
+     127         230 :   }
+     128             : 
+     129             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     130             :   bool start(void) override;
+     131             :   bool pause(void) override;
+     132             :   bool reset(void) override;
+     133             : 
+     134             :   double getState(const int &state_idx_in) const override;
+     135             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     136             : 
+     137             :   void setState(const double &state_in, const int &state_idx_in) override;
+     138             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     139             : 
+     140             :   states_t getStates(void) const override;
+     141             :   void     setStates(const states_t &states_in) override;
+     142             : 
+     143             :   double getCovariance(const int &state_idx_in) const override;
+     144             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     145             : 
+     146             :   covariance_t getCovarianceMatrix(void) const override;
+     147             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     148             : 
+     149             :   double getInnovation(const int &state_idx) const override;
+     150             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     151             : 
+     152             :   void setDt(const double &dt);
+     153             :   void setInputCoeff(const double &input_coeff);
+     154             : 
+     155             :   void generateRepredictorModels(const double input_coeff);
+     156             : 
+     157             :   void generateA();
+     158             :   void generateB();
+     159             : 
+     160             :   std::string getNamespacedName() const;
+     161             : 
+     162             :   std::string getPrintName() const;
+     163             : };
+     164             : }  // namespace mrs_uav_state_estimators
+     165             : 
+     166             : #endif  // ESTIMATORS_LATERAL_LAT_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/lateral/lat_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f10b1f5fd4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html @@ -0,0 +1,62 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_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 + 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/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..6fa70431bbed0c82bdfc8693d0379281e7228df2 GIT binary patch literal 708 zcmV;#0z3VQP)00{{R3zw{NF0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpKi;y_O zOB%{}8Z7WkVq8Vb85a;TMu+qO%z?qqs6t!d`_Ki(-X4L2*k+}t7^nPr@-bN4TCPl_ zAGp6E9d7CK7+_eqUf?z7BcRy=1apRLR>%N^9({@URod!l4E(Mq!gNnhOh#%nr`xJF z0&gcCa`_Kj2fR~XXGX)?Of0kTg4lj1u0XNaX4Yj}%I_Dq9E>oi0UM9B2aPcLmq6+; z8SRj4#@J{W09l#!j6(GZlPQ;|JTn?&hqW1v0Y)_RlK8rk90QMZNdi37H%47_7c7NB zOri%l;k@Xz1ZB76BAWEk^e%km5%UsOeFKDr$-Ws)8B`WmUuTojJrVIpXJz-)Q?=Qo z_U~}{q)@~Zrvmbe*OZrB)>9@ + + + + + + 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
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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:2024-10-08 22:31:24Functions: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::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&)115
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2115
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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/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..149b7d9282 --- /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
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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:2024-10-08 22:31:24Functions: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::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&)115
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2115
+
+
+ + + +
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..26dcd742cb --- /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:2024-10-08 22:31:24Functions: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         115 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24         115 :   }
+      25             : 
+      26         115 :   ~LateralEstimator(void) {
+      27         115 :   }
+      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..30252c4e81 --- /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:2024-10-08 22:31:24Functions: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&)115
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2115
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&)115
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2115
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&)202
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2202
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const162210
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const194698
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&) const194700
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const194711
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const194711
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const214156
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const214172
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const214176
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const333151
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&) const333567
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const333606
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const333700
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2915937
+
+
+ + + +
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..11c4693f2b --- /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:2024-10-08 22:31:24Functions: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&)115
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2115
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&)202
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2202
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&)115
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2115
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() const214172
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const214176
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const214156
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&) const333567
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const333606
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const162210
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const333700
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const333151
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&) const194700
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const194711
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2915937
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const194711
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const194698
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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:2024-10-08 22:31:24Functions:192479.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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         432 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         432 :   }
+      63             : 
+      64         432 :   ~PartialEstimator(void) {
+      65         432 :   }
+      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      742587 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      742587 :   const states_t      states = getStates();
+     104      741922 :   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     3337398 :   for (int i = 0; i < states.size(); i++) {
+     109     2594214 :     states_vec.push_back(states(i));
+     110             :   }
+     111     1483426 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      742005 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      742005 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      741776 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     3335974 :   for (int i = 0; i < covariance.rows(); i++) {
+     124    13457919 :     for (int j = 0; j < covariance.cols(); j++) {
+     125    10861134 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128     1483784 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     3078147 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     3078147 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      742489 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      742489 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147     1484799 :   mrs_msgs::EstimatorOutput msg;
+     148      741729 :   msg.header.stamp    = ros::Time::now();
+     149      742648 :   msg.header.frame_id = getFrameId();
+     150      742549 :   msg.state           = getStatesAsVector();
+     151      740930 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      741710 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      528267 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      528267 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166     1053254 :   mrs_msgs::Float64ArrayStamped msg;
+     167      524805 :   msg.header.stamp = stamp;
+     168     1246280 :   for (int i = 0; i < u.rows(); i++) {
+     169      718906 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      525865 :   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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+ 		100.0 %5 / 566.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/index.html new file mode 100644 index 0000000000..c4d52d592f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-10-08 22:31:24Functions: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
passthrough.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
state_generic.h +
100.0%
+ 		100.0 %5 / 566.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func-sort-c.html new file mode 100644 index 0000000000..0c04f1c6ce --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.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/state/passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func.html new file mode 100644 index 0000000000..80248fc869 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/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/state/passthrough.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 - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-10-08 22:31:24Functions: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::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..99a0f2c182 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html @@ -0,0 +1,179 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-10-08 22:31:24Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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             :   void                                          callbackPassthroughOdom(const nav_msgs::Odometry::ConstPtr msg);
+      52             :   double                                        _critical_timeout_passthrough_odom_;
+      53             :   std::string                                   msg_topic_;
+      54             : 
+      55             :   ros::Timer       timer_check_passthrough_odom_hz_;
+      56             :   void             timerCheckPassthroughOdomHz(const ros::TimerEvent &event);
+      57             :   std::atomic<int> counter_odom_msgs_ = 0;
+      58             :   ros::WallTime    t_check_hz_last_;
+      59             :   double           prev_avg_hz_ = 0;
+      60             :   bool             kickoff_     = false;
+      61             : 
+      62             :   ros::Timer                 timer_update_;
+      63             :   void                       timerUpdate(const ros::TimerEvent &event);
+      64             :   nav_msgs::OdometryConstPtr prev_msg_;
+      65             :   bool                       first_iter_ = true;
+      66             : 
+      67             :   bool isConverged();
+      68             : 
+      69             :   void waitForEstimationInitialization();
+      70             : 
+      71             : public:
+      72           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      73           1 :   }
+      74             : 
+      75           2 :   ~Passthrough(void) {
+      76           2 :   }
+      77             : 
+      78             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      79             :   bool start(void) override;
+      80             :   bool pause(void) override;
+      81             :   bool reset(void) override;
+      82             : 
+      83             :   /* mrs_msgs::UavState  getUavState() override; */
+      84             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      85             :   /* std::vector<double> getPoseCovariance() const override; */
+      86             :   /* std::vector<double> getTwistCovariance() const override; */
+      87             : 
+      88             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      89             : };
+      90             : 
+      91             : }  // namespace passthrough
+      92             : 
+      93             : }  // namespace mrs_uav_state_estimators
+      94             : 
+      95             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..2c9da25653 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + 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 + 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..08343947479917b7e9045638d31caaa211daee60 GIT binary patch literal 460 zcmV;-0W + + + + + + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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)115
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2115
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..6ba3999ecd --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)115
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2115
+
+
+ + + +
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..145592a8a7 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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         115 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79         115 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80         115 :   }
+      81             : 
+      82         115 :   ~StateGeneric(void) {
+      83         115 :   }
+      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:13523657.2 %
Date:2024-10-08 22:31:24Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
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+ 		75.6 %31 / 4133.3 %2 / 6
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proc_tf_to_world.h +
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+ 		78.9 %45 / 5737.5 %3 / 8
<unnamed>78.9 %45 / 5737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
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Date:2024-10-08 22:31:24Functions:174240.5 %
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63.9%63.9%
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<unnamed>63.9 %23 / 3633.3 %2 / 6
processor.h +
70.0%70.0%
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<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
72.5%72.5%
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<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
<unnamed>75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
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proc_excessive_tilt.h +
75.6%75.6%
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<unnamed>75.6 %31 / 4133.3 %2 / 6
proc_mag_declination.h +
0.0%
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proc_median_filter.h +
63.9%63.9%
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<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
<unnamed>78.9 %45 / 5737.5 %3 / 8
processor.h +
70.0%70.0%
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<unnamed>70.0 %7 / 1075.0 %6 / 8
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:13523657.2 %
Date:2024-10-08 22:31:24Functions:174240.5 %
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proc_mag_declination.h +
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proc_median_filter.h +
63.9%63.9%
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proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
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proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
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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:13523657.2 %
Date:2024-10-08 22:31:24Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_mag_declination.h +
0.0%
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
+
+
+ + + + +
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/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13523657.2 %
Date:2024-10-08 22:31:24Functions:174240.5 %
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 +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
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/mag_declination/geo_mag_declination.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func-sort-c.html new file mode 100644 index 0000000000..7c6d1c5897 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-10-08 22:31:24Functions:040.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::GeoMagDeclination::getTableData(float, float, short const (*) [37])0
mrs_uav_state_estimators::GeoMagDeclination::getLookupTableIndex(float*, float, float)0
mrs_uav_state_estimators::GeoMagDeclination::getMagDeclinationRadians(float, float)0
float mrs_uav_state_estimators::GeoMagDeclination::constrain<float>(float, float, float)0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html new file mode 100644 index 0000000000..73d52fe315 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-10-08 22:31:24Functions:040.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::GeoMagDeclination::getTableData(float, float, short const (*) [37])0
mrs_uav_state_estimators::GeoMagDeclination::getLookupTableIndex(float*, float, float)0
mrs_uav_state_estimators::GeoMagDeclination::getMagDeclinationRadians(float, float)0
float mrs_uav_state_estimators::GeoMagDeclination::constrain<float>(float, float, float)0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.frameset.html new file mode 100644 index 0000000000..70b138dc5a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.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/mag_declination/geo_mag_declination.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html new file mode 100644 index 0000000000..3f722ce80a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html @@ -0,0 +1,174 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-10-08 22:31:24Functions:040.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef GEO_MAG_DECLINATION_H
+       3             : #define GEO_MAG_DECLINATION_H
+       4             : 
+       5             : #include "geo_magnetic_tables.hpp"
+       6             : 
+       7             : #include <math.h>
+       8             : #include <stdint.h>
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : class GeoMagDeclination {
+      14             : 
+      15             : public:
+      16             :   /*//{ constrain() */
+      17             :   template <typename T>
+      18           0 :   static T constrain(T val, T min_val, T max_val) {
+      19           0 :     return (val < min_val) ? min_val : ((val > max_val) ? max_val : val);
+      20             :   }
+      21             :   /*//}*/
+      22             : 
+      23             :   /*//{ degrees() */
+      24             :   template <typename T>
+      25             :   static T degrees(T radians) {
+      26             :     return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+      27             :   }
+      28             :   /*//}*/
+      29             : 
+      30             :   /*//{ getLookupTableIndex() */
+      31           0 :   static unsigned getLookupTableIndex(float *val, float min, float max) {
+      32           0 :     *val = GeoMagDeclination::constrain(*val, min, max - SAMPLING_RES);
+      33             : 
+      34           0 :     return static_cast<unsigned>((-(min) + *val) / SAMPLING_RES);
+      35             :   }
+      36             :   /*//}*/
+      37             : 
+      38             :   /*//{ getTableData() */
+      39           0 :   static float getTableData(float lat, float lon, const int16_t table[LAT_DIM][LON_DIM]) {
+      40             : 
+      41           0 :     lat = GeoMagDeclination::constrain(lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
+      42             : 
+      43           0 :     if (lon > SAMPLING_MAX_LON) {
+      44           0 :       lon -= 360;
+      45             :     }
+      46             : 
+      47           0 :     if (lon < SAMPLING_MIN_LON) {
+      48           0 :       lon += 360;
+      49             :     }
+      50             : 
+      51             :     /* round down to nearest sampling resolution */
+      52           0 :     float min_lat = floorf(lat / SAMPLING_RES) * SAMPLING_RES;
+      53           0 :     float min_lon = floorf(lon / SAMPLING_RES) * SAMPLING_RES;
+      54             : 
+      55             :     /* find index of nearest low sampling point */
+      56           0 :     unsigned min_lat_index = GeoMagDeclination::getLookupTableIndex(&min_lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
+      57           0 :     unsigned min_lon_index = GeoMagDeclination::getLookupTableIndex(&min_lon, SAMPLING_MIN_LON, SAMPLING_MAX_LON);
+      58             : 
+      59           0 :     const float data_sw = table[min_lat_index][min_lon_index];
+      60           0 :     const float data_se = table[min_lat_index][min_lon_index + 1];
+      61           0 :     const float data_ne = table[min_lat_index + 1][min_lon_index + 1];
+      62           0 :     const float data_nw = table[min_lat_index + 1][min_lon_index];
+      63             : 
+      64             :     /* perform bilinear interpolation on the four grid corners */
+      65           0 :     const float lat_scale = GeoMagDeclination::constrain((lat - min_lat) / SAMPLING_RES, 0.f, 1.f);
+      66           0 :     const float lon_scale = GeoMagDeclination::constrain((lon - min_lon) / SAMPLING_RES, 0.f, 1.f);
+      67             : 
+      68           0 :     const float data_min = lon_scale * (data_se - data_sw) + data_sw;
+      69           0 :     const float data_max = lon_scale * (data_ne - data_nw) + data_nw;
+      70             : 
+      71           0 :     return lat_scale * (data_max - data_min) + data_min;
+      72             :   }
+      73             :   /*//}*/
+      74             : 
+      75           0 :   static float getMagDeclinationRadians(float lat, float lon) {
+      76           0 :     return GeoMagDeclination::getTableData(lat, lon, declination_table) * 1e-4f;  // declination table stored as 10^-4 radians
+      77             :   }
+      78             : 
+      79             :   static float getMagDeclinationDegrees(float lat, float lon) {
+      80             :     return GeoMagDeclination::degrees(GeoMagDeclination::getMagDeclinationRadians(lat, lon));
+      81             :   }
+      82             : 
+      83             : private:
+      84             :   GeoMagDeclination(){};
+      85             : };
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : 
+      90             : #endif
+
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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&)91
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)160434
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mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)160434
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&)91
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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+
          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          91 : 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          91 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          91 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          91 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          91 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          91 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          91 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          91 :   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          91 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          91 :   shopts.nh                 = nh;
+      65          91 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          91 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          91 :   shopts.threadsafe         = true;
+      68          91 :   shopts.autostart          = true;
+      69          91 :   shopts.queue_size         = 10;
+      70          91 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          91 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          91 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      160434 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process([[maybe_unused]] measurement_t& measurement) {
+      79             : 
+      80      160434 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      160434 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      160435 :   bool ok_flag     = true;
+      89      160435 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      160435 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      160429 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      160431 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      160412 :     if (is_excessive_tilt) {
+      99           3 :       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           3 :       ok_flag     = false;
+     101           3 :       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      160433 :   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
+
+
+
+ + + + +
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.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html new file mode 100644 index 0000000000..8e05401d3b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html @@ -0,0 +1,51 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.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 + + +
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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/processors - proc_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-10-08 22:31:24Functions:080.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMagDeclination<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<1>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<1>::ProcMagDeclination(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::ProcMagDeclination<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<2>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<2>::ProcMagDeclination(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
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func.html new file mode 100644 index 0000000000..f91bc8cd90 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.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_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-10-08 22:31:24Functions:080.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMagDeclination<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<1>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<1>::ProcMagDeclination(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::ProcMagDeclination<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<2>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<2>::ProcMagDeclination(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_mag_declination.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.frameset.html new file mode 100644 index 0000000000..8cbfd90a11 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.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_mag_declination.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html new file mode 100644 index 0000000000..802b11c11d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html @@ -0,0 +1,231 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-10-08 22:31:24Functions:080.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_MAG_DECLINATION_H
+       3             : #define PROCESSORS_MAG_DECLINATION_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : #include <mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h>
+       7             : 
+       8             : #include <sensor_msgs/NavSatFix.h>
+       9             : 
+      10             : #include <mrs_lib/gps_conversions.h>
+      11             : #include <mrs_lib/subscribe_handler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : 
+      14             : namespace mrs_uav_state_estimators
+      15             : {
+      16             : 
+      17             : using namespace mrs_uav_managers::estimation_manager;
+      18             : 
+      19             : template <int n_measurements>
+      20             : class ProcMagDeclination : public Processor<n_measurements> {
+      21             : 
+      22             : public:
+      23             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      24             : 
+      25             : public:
+      26             :   ProcMagDeclination(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      27             :                      const std::shared_ptr<PrivateHandlers_t>& ph);
+      28             : 
+      29             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      30             :   void                   reset();
+      31             : 
+      32             : private:
+      33             :   bool is_initialized_ = false;
+      34             : 
+      35             :   bool        use_gnss_msg_;
+      36             :   std::string gnss_topic_;
+      37             : 
+      38             :   std::mutex       mtx_gnss_;
+      39             :   std::atomic_bool got_gnss_ = false;
+      40             :   double           gnss_lat_;
+      41             :   double           gnss_lon_;
+      42             : 
+      43             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      44             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      45             : };
+      46             : 
+      47             : /*//{ constructor */
+      48             : template <int n_measurements>
+      49           0 : ProcMagDeclination<n_measurements>::ProcMagDeclination(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      50             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      51           0 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      52             : 
+      53           0 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      54             : 
+      55           0 :   ph->param_loader->loadParam("use_gnss_msg", use_gnss_msg_);
+      56           0 :   if (use_gnss_msg_) {
+      57           0 :     ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      58             :   } else {
+      59           0 :     ph->param_loader->loadParam("latitude", gnss_lat_);
+      60           0 :     ph->param_loader->loadParam("longitude", gnss_lon_);
+      61             :   }
+      62             : 
+      63           0 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      64             : 
+      65           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      66           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      67           0 :     ros::shutdown();
+      68             :   }
+      69             : 
+      70             :   // | -------------- initialize subscribe handlers ------------- |
+      71           0 :   mrs_lib::SubscribeHandlerOptions shopts;
+      72           0 :   shopts.nh                 = nh;
+      73           0 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      74           0 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      75           0 :   shopts.threadsafe         = true;
+      76           0 :   shopts.autostart          = true;
+      77           0 :   shopts.queue_size         = 10;
+      78           0 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      79             : 
+      80           0 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcMagDeclination::callbackGnss, this);
+      81             : 
+      82           0 :   is_initialized_ = true;
+      83           0 : }
+      84             : /*//}*/
+      85             : 
+      86             : /*//{ callbackGnss() */
+      87             : template <int n_measurements>
+      88           0 : void ProcMagDeclination<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      89             : 
+      90           0 :   if (!is_initialized_) {
+      91           0 :     return;
+      92             :   }
+      93             : 
+      94           0 :   if (got_gnss_) {
+      95           0 :     return;
+      96             :   }
+      97             : 
+      98           0 :   if (!std::isfinite(msg->latitude)) {
+      99           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+     100           0 :     return;
+     101             :   }
+     102             : 
+     103           0 :   if (!std::isfinite(msg->longitude)) {
+     104           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+     105           0 :     return;
+     106             :   }
+     107             : 
+     108           0 :   std::scoped_lock lock(mtx_gnss_);
+     109           0 :   gnss_lat_ = msg->latitude;
+     110           0 :   gnss_lon_ = msg->longitude;
+     111           0 :   ROS_INFO("[%s]: First GNSS obtained: lat:%.2f lon:%.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_lat_, gnss_lon_);
+     112           0 :   got_gnss_ = true;
+     113             : }
+     114             : /*//}*/
+     115             : 
+     116             : /*//{ process() */
+     117             : template <int n_measurements>
+     118           0 : std::tuple<bool, bool> ProcMagDeclination<n_measurements>::process(measurement_t& measurement) {
+     119             : 
+     120           0 :   if (!Processor<n_measurements>::enabled_) {
+     121           0 :     return {true, true};
+     122             :   }
+     123             : 
+     124           0 :   std::scoped_lock lock(mtx_gnss_);
+     125             : 
+     126           0 :   if (!got_gnss_) {
+     127           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     128           0 :     return {false, false};
+     129             :   }
+     130             : 
+     131           0 :   float mag_declination = GeoMagDeclination::getMagDeclinationRadians(gnss_lat_, gnss_lon_);
+     132             : 
+     133           0 :   measurement(0) -= mag_declination;
+     134             : 
+     135           0 :   return {true, true};
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ reset() */
+     140             : template <int n_measurements>
+     141           0 : void ProcMagDeclination<n_measurements>::reset() {
+     142           0 :   got_gnss_                  = false;
+     143           0 : }
+     144             : /*//}*/
+     145             : }  // namespace mrs_uav_state_estimators
+     146             : 
+     147             : #endif  // PROCESSORS_PROC_MAG_DECLINATION
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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&)91
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)160417
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Date:2024-10-08 22:31:24Functions:2633.3 %
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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<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)160417
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&)91
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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Date:2024-10-08 22:31:24Functions:2633.3 %
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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          91 : 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          91 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          91 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          91 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          91 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          91 :   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          91 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          91 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         182 :   for (int i = 0; i < n_measurements; i++) {
+      59          91 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          91 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      160417 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      160417 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      160417 :   bool ok_flag     = true;
+      73      160417 :   bool should_fuse = true;
+      74      320829 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      160422 :     vec_mf_[i].add(measurement(i));
+      76      160414 :     if (vec_mf_[i].full()) {
+      77      151398 :       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        9008 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        9009 :       ok_flag     = false;
+      89        9009 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      160408 :   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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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)>)4
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)>)93
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3870
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)162204
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Date:2024-10-08 22:31:24Functions: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>&)162204
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)>)93
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3870
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)>)4
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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:294072.5 %
Date:2024-10-08 22:31:24Functions:4666.7 %
Legend: Lines: + hit + not hit +
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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          97 : 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          97 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          97 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          97 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          97 :   this->enabled_ = this->start_enabled_;
+      52          97 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          97 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          97 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          97 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          97 :   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          97 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      166074 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      166074 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      166074 :   bool ok_flag     = true;
+      74      166074 :   bool should_fuse = true;
+      75      329331 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      169932 :     const double state = fun_get_state_(state_id_, i);
+      77      169927 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      169927 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        6659 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      163250 :     if (measurement(i) > state + saturate_max_) {
+      84        1102 :       const double saturated = state + saturate_max_;
+      85        1102 :       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        1102 :       measurement(i) = saturated;
+      88        1102 :       ok_flag        = false;
+      89        1102 :       should_fuse    = true;
+      90      162162 :     } 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      159403 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      159403 :   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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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9849f98e369e50987231e01d23a49867fcf9bec5 GIT binary patch literal 711 zcmV;&0yzDNP)PuAm$E_Fv^0!cQUyv9+o8t9s_bg#@ixmc=cLnHvF_eGOC_ zIC=d+pc#F7gezUL=r-izK6S^=VOz^- zoTyaRs(gREA>hUbqo%&|$VMlDoalkatPzZW+4a<;8psABfO>hZ^Mt%Mz-{|Ww&S+{ z9p@(>r*AyLfZNc_c8mc92))RAgAwwNfKTgsTGr3&x>KQIGCeA;wB$OrpygAHn&rC5 zukaXCxKlpgNuk<2$#QnE&@aCnqtE)yfqy{9M(&-32O^%(+KM|qYtXE zrX~pb0OB-yBpN*L@iN4g3^{_@nsrt4AT#|K;mSiX7BvL61LR6V{h6t7ctXc2OVI|h zbLNpK?=(n2yo|tmsftIKOh{TZYe+yl#Ug+kR@agH=DyR8CX0!H#Zozz2Apm=e;R%l z0gn8YFyx$hB+9$$O+dVi!22RE9*+ndG=NRnDt_{Imfkbz0XIJNyV$HPd+0q|yjTk< zmEAsRgp7l6{iZ*rx}q>WKf;*PT-Gm|ue_N^y`!S@HB-N6)(Oumq9=Hq_P8IzClI4d t%w`5<@?i>{ZT~FL-+iN_Y2I%;xPLjP^YBqA0G9v&002ovPDHLkV1gH|QM>>E literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html new file mode 100644 index 0000000000..e90cd8e825 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.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/proc_tf_to_world.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_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-10-08 22:31:24Functions:3837.5 %
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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&)111
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77285
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)217818
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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:455778.9 %
Date:2024-10-08 22:31:24Functions: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>)77285
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)217818
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&)111
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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/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-10-08 22:31:24Functions: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             :   std::mutex       mtx_gnss_;
+      37             :   std::atomic_bool got_gnss_                  = false;
+      38             :   std::atomic_bool is_gnss_offset_calculated_ = false;
+      39             :   double           gnss_x_;
+      40             :   double           gnss_y_;
+      41             : 
+      42             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      43             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      44             : };
+      45             : 
+      46             : /*//{ constructor */
+      47             : template <int n_measurements>
+      48         111 : ProcTfToWorld<n_measurements>::ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      49             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      50         111 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      51             : 
+      52         111 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      53             : 
+      54         111 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      55             : 
+      56         111 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      57             : 
+      58         111 :   if (!ph->param_loader->loadedSuccessfully()) {
+      59           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      60           0 :     ros::shutdown();
+      61             :   }
+      62             : 
+      63             :   // | -------------- initialize subscribe handlers ------------- |
+      64         111 :   mrs_lib::SubscribeHandlerOptions shopts;
+      65         111 :   shopts.nh                 = nh;
+      66         111 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      67         111 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      68         111 :   shopts.threadsafe         = true;
+      69         111 :   shopts.autostart          = true;
+      70         111 :   shopts.queue_size         = 10;
+      71         111 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      72             : 
+      73         111 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      74             : 
+      75         111 :   is_initialized_ = true;
+      76         111 : }
+      77             : /*//}*/
+      78             : 
+      79             : /*//{ callbackGnss() */
+      80             : template <int n_measurements>
+      81       77285 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      82             : 
+      83       77285 :   if (!is_initialized_) {
+      84       77085 :     return;
+      85             :   }
+      86             : 
+      87       77285 :   if (got_gnss_) {
+      88       77085 :     return;
+      89             :   }
+      90             : 
+      91         112 :   if (!std::isfinite(msg->latitude)) {
+      92           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      93           0 :     return;
+      94             :   }
+      95             : 
+      96         111 :   if (!std::isfinite(msg->longitude)) {
+      97           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      98           0 :     return;
+      99             :   }
+     100             : 
+     101         222 :   std::scoped_lock lock(mtx_gnss_);
+     102         111 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+     103         111 :   ROS_INFO("[%s]: First GNSS obtained: %.2f %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     104         111 :   got_gnss_ = true;
+     105             : }
+     106             : /*//}*/
+     107             : 
+     108             : /*//{ process() */
+     109             : template <int n_measurements>
+     110      217818 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     111             : 
+     112      217818 :   if (!Processor<n_measurements>::enabled_) {
+     113           0 :     return {true, true};
+     114             :   }
+     115             : 
+     116      435456 :   std::scoped_lock lock(mtx_gnss_);
+     117             : 
+     118      217807 :   if (!got_gnss_) {
+     119        7137 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     120        7137 :     return {false, false};
+     121             :   }
+     122             : 
+     123      210627 :   if (!is_gnss_offset_calculated_) {
+     124             : 
+     125         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_x_: %.2f, measurement(0): %.2f, world_origin.x: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_,
+     126             :                       measurement(0), Processor<n_measurements>::ch_->world_origin.x);
+     127         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_y_: %.2f, measurement(1): %.2f, world_origin.y: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_y_,
+     128             :                       measurement(1), Processor<n_measurements>::ch_->world_origin.y);
+     129         111 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     130         111 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     131         111 :     is_gnss_offset_calculated_ = true;
+     132         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: GNSS world offset calculated as: [%.2f %.2f]", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     133             :   }
+     134             : 
+     135      210672 :   measurement(0) += gnss_x_;
+     136      210508 :   measurement(1) += gnss_y_;
+     137             : 
+     138      210616 :   if (measurement(0) > 10000 || measurement(0) < -10000 || measurement(1) > 10000 || measurement(1) < -10000) {
+     139           0 :     ROS_WARN_THROTTLE(
+     140             :         1.0,
+     141             :         "[%s]: debug: Not expected to fly further than 10 km. This is most likely a bug. measurement(0): %.2f measurement(1): %.2f gnss_x_: %.2f gnss_y_: %.2f",
+     142             :         Processor<n_measurements>::getPrintName().c_str(), measurement(0), measurement(1), gnss_x_, gnss_y_);
+     143             :   }
+     144      210632 :   return {true, true};
+     145             : }
+     146             : /*//}*/
+     147             : 
+     148             : /*//{ reset() */
+     149             : template <int n_measurements>
+     150           0 : void ProcTfToWorld<n_measurements>::reset() {
+     151           0 :   got_gnss_                  = false;
+     152           0 :   is_gnss_offset_calculated_ = false;
+     153           0 : }
+     154             : /*//}*/
+     155             : }  // namespace mrs_uav_state_estimators
+     156             : 
+     157             : #endif  // PROCESSORS_PROC_TF_TO_WORLD_H
+
+
+
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+ + + 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..c44e2f6583 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + 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 + overview + overview + overview + overview + overview + + +
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+ + 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..a324c1257ee9037e3fabf82919209845d495e4b0 GIT binary patch literal 777 zcmV+k1NQuhP)YeKPLfI%d(hdQDZ?M6>}3P z7RRBNhCIV~)54mKVqgP#1>TJ!GMcesrS7XLRhvTlJ-0ACX3Ubb8gmW3ep|KBYVL9} zHd-<7`;=p5I<1j5^pje73r1fJMaKwP|cqki8fe9uJfx;%Wbp_7N?c1i- zs@QF_{E-s~SCSwed~Wz?gRvB~){V2)?OgR8#$YEf;2a}>+b`Au2g(_3%}QGU_x&fx z;r8R_b#C!I{JIMSxOYYEuRb6FCn{HKGMaFJ=!Hy?0as+k1)&-66k6a>E;AEZ;L4wF zan%6)Zj})NV?%eTdI$umGoG|`1`<#x$Y`sjMpN*{;DWZp2<+Wtz^zY|f%0-py;1ik zkBLUwjN#i&Dm@6@IIgQKKx!36Tpq`0W6_nq&_R}6o3E|AfdR&8jjrC4u{Ct0GH1mn@RJ^unROSIn z8T0jue2Ov0(yxHhqK~ZpCV|9C+el>18JoPqcO>uJM{*ssdR4s?ih)8QW#%Gdft*0R z<-$p4uEB(~JE*Wz;QNNbE~)Wo;y-Qt-3Y9U&PVx|$~D((KRkav&y1%T`8*R}J(;}9 z#;$y-)Ai$Mtwhw$s5(I5?6E7^s^ + + + + + + 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:2024-10-08 22:31:24Functions: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<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&)115
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const118
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const198
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&)275
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const366
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const575
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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/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-10-08 22:31:24Functions: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&)275
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&)115
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const198
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const366
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const575
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const118
+
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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/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..c164fa8d5d --- /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 + + + + + + + + + + + + + + +
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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:2024-10-08 22:31:24Functions:6875.0 %
Legend: Lines: + hit + not hit +
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+
          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         390 :   Processor([[maybe_unused]] 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         390 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         390 :   }  // 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         484 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         484 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         773 : std::string Processor<n_measurements>::getPrintName() const {
+      59         773 :   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
+
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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:8012365.0 %
Date:2024-10-08 22:31:24Functions: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()87
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&)87
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()583
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1603
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)155227
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const156940
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Date:2024-10-08 22:31:24Functions: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()87
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&)87
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)155227
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1603
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()583
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const156940
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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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:8012365.0 %
Date:2024-10-08 22:31:24Functions:61060.0 %
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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          87 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          87 :   ch_ = ch;
+      17          87 :   ph_ = ph;
+      18          87 :   nh_ = nh;
+      19             : 
+      20          87 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          87 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          87 :   if (is_core_plugin_) {
+      27             : 
+      28          87 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          87 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          87 :   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          87 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          87 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          87 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          87 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         174 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          87 :   shopts.nh                 = nh;
+      46          87 :   shopts.node_name          = getPrintName();
+      47          87 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          87 :   shopts.threadsafe         = true;
+      49          87 :   shopts.autostart          = true;
+      50          87 :   shopts.queue_size         = 10;
+      51          87 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          87 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          87 :   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          87 :   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          87 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          87 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          87 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          87 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          87 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          87 :   if (changeState(INITIALIZED_STATE)) {
+      76          87 :     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          87 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84         583 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87         583 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91         583 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94         583 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97         583 :     if (est_agl_garmin_start_successful) {
+      98          87 :       timer_update_.start();
+      99          87 :       changeState(STARTED_STATE);
+     100          87 :       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         496 :   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      155227 : void GarminAgl::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     147             : 
+     148      155227 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152      155227 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      310454 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155      155227 :   agl_height.header.stamp             = time_now;
+     156      155227 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      310454 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159      155227 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161      155227 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162      155227 :   agl_height_cov.values.resize(n_states * n_states);
+     163      155227 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164      155227 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166      155227 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167      155227 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169      155227 :   publishAglHeight();
+     170      155227 :   publishCovariance();
+     171      155227 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176        1603 : void GarminAgl::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     177             : 
+     178        1603 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182        1603 :   switch (getCurrentSmState()) {
+     183             : 
+     184           0 :     case UNINITIALIZED_STATE: {
+     185           0 :       break;
+     186             :     }
+     187             : 
+     188          87 :     case INITIALIZED_STATE: {
+     189             : 
+     190          87 :       if (est_agl_garmin_->isInitialized()) {
+     191          87 :         changeState(READY_STATE);
+     192          87 :         ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     193             :       } else {
+     194           0 :         ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     195           0 :         return;
+     196             :       }
+     197          87 :       break;
+     198             :     }
+     199             : 
+     200           0 :     case READY_STATE: {
+     201           0 :       break;
+     202             :     }
+     203             : 
+     204          87 :     case STARTED_STATE: {
+     205             : 
+     206          87 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     207             : 
+     208          87 :       if (est_agl_garmin_->isError()) {
+     209           0 :         changeState(ERROR_STATE);
+     210             :       }
+     211             : 
+     212          87 :       if (est_agl_garmin_->isRunning()) {
+     213          87 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     214          87 :         changeState(RUNNING_STATE);
+     215             :       } else {
+     216           0 :         return;
+     217             :       }
+     218          87 :       break;
+     219             :     }
+     220             : 
+     221        1429 :     case RUNNING_STATE: {
+     222        1429 :       if (est_agl_garmin_->isError()) {
+     223           0 :         changeState(ERROR_STATE);
+     224             :       }
+     225        1429 :       break;
+     226             :     }
+     227             : 
+     228           0 :     case STOPPED_STATE: {
+     229           0 :       break;
+     230             :     }
+     231             : 
+     232           0 :     case ERROR_STATE: {
+     233           0 :       if (est_agl_garmin_->isReady()) {
+     234           0 :         changeState(READY_STATE);
+     235             :       }
+     236           0 :       break;
+     237             :     }
+     238             :   }
+     239             : }
+     240             : /*//}*/
+     241             : 
+     242             : /*//{ isConverged() */
+     243           0 : bool GarminAgl::isConverged() {
+     244             : 
+     245             :   // TODO: check convergence by rate of change of determinant
+     246             :   // most likely not used in top-level estimator
+     247             : 
+     248           0 :   return true;
+     249             : }
+     250             : /*//}*/
+     251             : 
+     252             : /*//{ getUavAglHeight() */
+     253      156940 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     254      156940 :   return mrs_lib::get_mutexed(mtx_agl_height_, agl_height_);
+     255             : }
+     256             : /*//}*/
+     257             : 
+     258             : /*//{ getHeightCovariance() */
+     259           0 : std::vector<double> GarminAgl::getHeightCovariance() const {
+     260           0 :   return mrs_lib::get_mutexed(mtx_agl_height_cov_, agl_height_cov_.values);
+     261             : }
+     262             : /*//}*/
+     263             : 
+     264             : }  // namespace garmin_agl
+     265             : 
+     266             : }  // namespace mrs_uav_state_estimators
+     267             : 
+     268             : #include <pluginlib/class_list_macros.h>
+     269          87 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
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Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-10-08 22:31:24Functions:223366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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::generateRepredictorModels(double)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::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) 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&)202
mrs_uav_state_estimators::AltGeneric::isConverged()202
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)300
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)392
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1305
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1564
mrs_uav_state_estimators::AltGeneric::start()5580
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const162204
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) const162210
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const206452
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const333397
mrs_uav_state_estimators::AltGeneric::getStates() const333649
mrs_uav_state_estimators::AltGeneric::setDt(double const&)333711
mrs_uav_state_estimators::AltGeneric::generateB()334313
mrs_uav_state_estimators::AltGeneric::generateA()334323
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)379269
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) const526791
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&)526809
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)526849
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const723346
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1239052
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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.func.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html new file mode 100644 index 0000000000..463751ca02 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html @@ -0,0 +1,212 @@ + + + + + + + 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:21339653.8 %
Date:2024-10-08 22:31:24Functions:223366.7 %
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&)202
mrs_uav_state_estimators::AltGeneric::isConverged()202
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)379269
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&)526809
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)526849
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)392
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setDt(double const&)333711
mrs_uav_state_estimators::AltGeneric::start()5580
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)300
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()334323
mrs_uav_state_estimators::AltGeneric::generateB()334313
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1564
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const723346
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const206452
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1305
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const333397
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1239052
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const162204
mrs_uav_state_estimators::AltGeneric::getStates() const333649
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) const526791
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) const162210
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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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:21339653.8 %
Date:2024-10-08 22:31:24Functions:223366.7 %
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         202 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         202 :   ch_ = ch;
+      17         202 :   ph_ = ph;
+      18             : 
+      19         202 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         202 :   dt_ = 0.01;
+      23         202 :   input_coeff_ = 10;
+      24         202 :   default_input_coeff_ = 10;
+      25             : 
+      26         202 :   generateA();
+      27         202 :   generateB();
+      28             : 
+      29         202 :   H_ <<
+      30         202 :     1, 0, 0;
+      31             : 
+      32         202 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             :   // clang-format on
+      36             : 
+      37             :   // | --------------- initialize parameter loader -------------- |
+      38             : 
+      39         202 :   if (is_core_plugin_) {
+      40             : 
+      41         202 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      42         202 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43             :   }
+      44             : 
+      45         202 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48             : 
+      49         202 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50         202 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      51         202 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      52         202 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      53         202 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      54         202 :   if (is_repredictor_enabled_) {
+      55           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      56             :   }
+      57             : 
+      58             :   // | --------------- corrections initialization --------------- |
+      59         202 :   ph->param_loader->loadParam("corrections", correction_names_);
+      60             : 
+      61         497 :   for (auto corr_name : correction_names_) {
+      62         295 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      63      162800 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      64      526791 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      65      526791 :           return this->doCorrection(meas, R, state);
+      66             :         }));
+      67             :   }
+      68             : 
+      69         202 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      70             : 
+      71             :   // | ----------- initialize process noise covariance ---------- |
+      72         202 :   Q_ = Q_t::Zero();
+      73             :   double tmp_noise;
+      74         202 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      75         202 :   Q_(POSITION, POSITION) = tmp_noise;
+      76         202 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      77         202 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      78         202 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      79         202 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      80             : 
+      81             :   // | ------- check if all parameters loaded successfully ------ |
+      82         202 :   if (!ph->param_loader->loadedSuccessfully()) {
+      83           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      84           0 :     ros::shutdown();
+      85             :   }
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89         202 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      90         202 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      91         202 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      92         202 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      93         202 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96         202 :   const x_t        x0 = x_t::Zero();
+      97         202 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98         202 :   const statecov_t sc0({x0, P0});
+      99         202 :   sc_ = sc0;
+     100             : 
+     101         202 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102         202 :   if (is_repredictor_enabled_) {
+     103             : 
+     104           0 :     generateRepredictorModels(input_coeff_);
+     105             : 
+     106           0 :     const u_t       u0 = u_t::Zero();
+     107           0 :     const ros::Time t0 = ros::Time::now();
+     108           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     109             : 
+     110           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     111             :   }
+     112             : 
+     113             :   // | ------------------ timers initialization ----------------- |
+     114         202 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerUpdate, this);  // not running after init
+     115             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerCheckHealth, this); */
+     116             : 
+     117             :   // | --------------- subscribers initialization --------------- |
+     118             :   // subscriber to odometry
+     119         404 :   mrs_lib::SubscribeHandlerOptions shopts;
+     120         202 :   shopts.nh                 = nh;
+     121         202 :   shopts.node_name          = getPrintName();
+     122         202 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     123         202 :   shopts.threadsafe         = true;
+     124         202 :   shopts.autostart          = true;
+     125         202 :   shopts.queue_size         = 10;
+     126         202 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     127             : 
+     128         202 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     129             : 
+     130             :   // | ---------------- publishers initialization --------------- |
+     131         202 :   if (ch_->debug_topics.input) {
+     132         202 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     133             :   }
+     134         202 :   if (ch_->debug_topics.output) {
+     135         202 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     136             :   }
+     137         202 :   if (ch_->debug_topics.diag) {
+     138           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     139             :   }
+     140             : 
+     141             :   // | ------------------ finish initialization ----------------- |
+     142             : 
+     143         202 :   if (changeState(INITIALIZED_STATE)) {
+     144         202 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     145             :   } else {
+     146           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     147             :   }
+     148         202 : }
+     149             : /*//}*/
+     150             : 
+     151             : /*//{ start() */
+     152        5580 : bool AltGeneric::start(void) {
+     153             : 
+     154        5580 :   if (isInState(READY_STATE)) {
+     155             :     /* timer_update_.start(); */
+     156         202 :     changeState(STARTED_STATE);
+     157         202 :     return true;
+     158             : 
+     159             :   } else {
+     160        5378 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     161        5378 :     return false;
+     162             :   }
+     163             : }
+     164             : /*//}*/
+     165             : 
+     166             : /*//{ pause() */
+     167           0 : bool AltGeneric::pause(void) {
+     168             : 
+     169           0 :   if (isInState(RUNNING_STATE)) {
+     170           0 :     changeState(STOPPED_STATE);
+     171           0 :     return true;
+     172             : 
+     173             :   } else {
+     174           0 :     return false;
+     175             :   }
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : /*//{ reset() */
+     180           0 : bool AltGeneric::reset(void) {
+     181             : 
+     182           0 :   if (!isInitialized()) {
+     183           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     184           0 :     return false;
+     185             :   }
+     186             : 
+     187           0 :   changeState(STOPPED_STATE);
+     188             : 
+     189             :   // Initialize LKF state and covariance
+     190           0 :   const x_t        x0 = x_t::Zero();
+     191           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     192           0 :   const statecov_t sc0({x0, P0});
+     193           0 :   sc_ = sc0;
+     194             : 
+     195             :   // Instantiate the LKF itself
+     196           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     197           0 :   if (is_repredictor_enabled_) {
+     198             : 
+     199           0 :     const u_t       u0 = u_t::Zero();
+     200           0 :     const ros::Time t0 = ros::Time(0);
+     201           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     202             :   }
+     203             : 
+     204           0 :   changeState(INITIALIZED_STATE);
+     205           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     206             : 
+     207           0 :   return true;
+     208             : }
+     209             : /*//}*/
+     210             : 
+     211             : /* timerUpdate() //{*/
+     212      379269 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      379269 :   if (!isInitialized()) {
+     216       45482 :     return;
+     217             :   }
+     218             : 
+     219      379227 :   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        6718 :     case READY_STATE: {
+     227        6718 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        6717 :       break;
+     229             :     }
+     230             : 
+     231        9739 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233       10043 :       for (auto correction : corrections_) {
+     234        9837 :         auto res = correction->getProcessedCorrection();
+     235        9815 :         if (res) {
+     236         300 :           auto measurement_stamped = res.value();
+     237         300 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         300 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        9496 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        9519 :           return;
+     243             :         }
+     244             :       }
+     245         202 :       changeState(READY_STATE);
+     246         202 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247         202 :       break;
+     248             :     }
+     249             : 
+     250         202 :     case STARTED_STATE: {
+     251         202 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253         202 :       if (isConverged()) {
+     254         202 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255         202 :         changeState(RUNNING_STATE);
+     256             :       }
+     257         202 :       break;
+     258             :     }
+     259             : 
+     260      362602 :     case RUNNING_STATE: {
+     261      892900 :       for (auto correction : corrections_) {
+     262      530253 :         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      362631 :       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      369781 :   if (sh_control_input_.newMsg()) {
+     313      182149 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      369672 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          27 :     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          27 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323      369646 :   if (!isRunning() && !isStarted()) {
+     324        6911 :     return;
+     325             :   }
+     326             : 
+     327      362753 :   if (first_iter_) {
+     328         202 :     first_iter_ = false;
+     329         202 :     return;
+     330             :   }
+     331             : 
+     332      362551 :   double dt = (event.current_real - event.last_real).toSec();
+     333      362548 :   if (dt <= 0.0 || dt > 1.0) {
+     334       28858 :     return;
+     335             :   }
+     336             : 
+     337      333699 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     338      333710 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      333544 :   u_t       u;
+     343      333413 :   ros::Time input_stamp;
+     344      333505 :   if (is_input_ready_) {
+     345      206434 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346      206460 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347      206521 :     input_stamp                                     = msg->header.stamp;
+     348      205809 :     if (input_coeff_ != default_input_coeff_){
+     349         162 :       setInputCoeff(default_input_coeff_);
+     350             :     }
+     351      205810 :     u(0) = des_acc_global.getZ();
+     352             :   } else {
+     353      126824 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     354      127052 :     input_stamp = ros::Time::now();
+     355      127101 :     if (input_coeff_ != 0){
+     356         229 :       setInputCoeff(0);
+     357             :     }
+     358      127101 :     u = u_t::Zero();
+     359             :   }
+     360             : 
+     361             :   // go through available corrections and apply them
+     362             :   /* for (auto correction : corrections_) { */
+     363             :   /*   auto res = correction->getProcessedCorrection(); */
+     364             :   /*   if (res) { */
+     365             :   /*     auto measurement_stamped = res.value(); */
+     366             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     367             :   /*   } */
+     368             :   /* } */
+     369             : 
+     370      331747 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     371      332877 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     372             : 
+     373             :   try {
+     374             :     // Apply the prediction step
+     375      664957 :     std::scoped_lock lock(mutex_lkf_);
+     376      332500 :     if (is_repredictor_enabled_) {
+     377           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     378           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     379             :     } else {
+     380      332500 :       sc = lkf_->predict(sc, u, Q, dt_);
+     381             :     }
+     382             :   }
+     383           0 :   catch (const std::exception &e) {
+     384             :     // In case of error, alert the user
+     385           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     386             :   }
+     387             : 
+     388      330664 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     389             : 
+     390             :   // publishing
+     391      331968 :   publishInput(u, input_stamp);
+     392      333735 :   publishOutput();
+     393      333749 :   publishDiagnostics();
+     394             : }
+     395             : /*//}*/
+     396             : 
+     397             : /*//{ timerCheckHealth() */
+     398           0 : void AltGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     399             : 
+     400           0 :   if (!isInitialized()) {
+     401           0 :     return;
+     402             :   }
+     403             : 
+     404           0 :   switch (getCurrentSmState()) {
+     405             : 
+     406           0 :     case UNINITIALIZED_STATE: {
+     407           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     408           0 :       break;
+     409             :     }
+     410             : 
+     411           0 :     case READY_STATE: {
+     412           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     413           0 :       break;
+     414             :     }
+     415             : 
+     416           0 :     case INITIALIZED_STATE: {
+     417             : 
+     418             :       // initialize the estimator with current corrections
+     419           0 :       for (auto correction : corrections_) {
+     420           0 :         auto res = correction->getProcessedCorrection();
+     421           0 :         if (res) {
+     422           0 :           auto measurement_stamped = res.value();
+     423           0 :           setState(measurement_stamped.value(0), correction->getStateId());
+     424           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     425             :         } else {
+     426           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     427             :                             correction->getNamespacedName().c_str());
+     428           0 :           return;
+     429             :         }
+     430             :       }
+     431           0 :       changeState(READY_STATE);
+     432           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     433           0 :       break;
+     434             :     }
+     435             : 
+     436           0 :     case STARTED_STATE: {
+     437           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     438             : 
+     439           0 :       if (isConverged()) {
+     440           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     441           0 :         changeState(RUNNING_STATE);
+     442             :       }
+     443           0 :       break;
+     444             :     }
+     445             : 
+     446           0 :     case RUNNING_STATE: {
+     447           0 :       for (auto correction : corrections_) {
+     448           0 :         if (!correction->isHealthy()) {
+     449           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     450           0 :           changeState(ERROR_STATE);
+     451             :         }
+     452             :       }
+     453           0 :       break;
+     454             :     }
+     455             : 
+     456           0 :     case STOPPED_STATE: {
+     457           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     458           0 :       break;
+     459             :     }
+     460             : 
+     461           0 :     case ERROR_STATE: {
+     462           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     463           0 :       bool all_corrections_healthy = true;
+     464           0 :       for (auto correction : corrections_) {
+     465           0 :         if (!correction->isHealthy()) {
+     466           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     467           0 :           all_corrections_healthy = false;
+     468             :         }
+     469             :       }
+     470             :       // initialize the estimator again if corrections become healthy
+     471           0 :       if (all_corrections_healthy) {
+     472           0 :         changeState(INITIALIZED_STATE);
+     473             :       }
+     474           0 :       break;
+     475             :     }
+     476             :   }
+     477             : 
+     478           0 :   if (sh_control_input_.newMsg()) {
+     479           0 :     is_input_ready_ = true;
+     480             :   }
+     481             : 
+     482             :   // check age of input
+     483           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     484           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     485             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     486           0 :     is_input_ready_ = false;
+     487             :   }
+     488             : }
+     489             : /*//}*/
+     490             : 
+     491             : /*//{ doCorrection() */
+     492      526849 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     493      526849 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     494      526604 : }
+     495             : /*//}*/
+     496             : 
+     497             : /*//{ doCorrection() */
+     498      526809 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     499             : 
+     500      526809 :   if (!isInitialized()) {
+     501        5161 :     return;
+     502             :   }
+     503             : 
+     504             :   // we do not want to perform corrections until the estimator is initialized
+     505      526701 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     506        5157 :     return;
+     507             :   }
+     508             : 
+     509             :   // for position state check the innovation
+     510      521297 :   if (H_idx == POSITION) {
+     511      302115 :     std::scoped_lock lock(mtx_innovation_);
+     512             : 
+     513      302179 :     is_mitigating_jump_ = false;
+     514      302298 :     innovation_(0)      = z(0) - getState(POSITION);
+     515             : 
+     516      302244 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     517           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), pos_innovation_limit_);
+     518           0 :       innovation_ok_ = false;
+     519           0 :       switch (exc_innovation_action_) {
+     520           0 :         case ExcInnoAction_t::ELAND: {
+     521           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", getPrintName().c_str());
+     522           0 :           changeState(ERROR_STATE);
+     523           0 :           break;
+     524             :         }
+     525           0 :         case ExcInnoAction_t::SWITCH: {
+     526           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", getPrintName().c_str());
+     527           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?
+     528           0 :           changeState(ERROR_STATE);
+     529           0 :           break;
+     530             :         }
+     531           0 :         case ExcInnoAction_t::MITIGATE: {
+     532           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", getPrintName().c_str());
+     533           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?
+     534           0 :           is_mitigating_jump_ = true;
+     535           0 :           setState(z(0), POSITION);
+     536           0 :           break;
+     537             :         }
+     538           0 :         case ExcInnoAction_t::NONE: {
+     539           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", getPrintName().c_str());
+     540           0 :           break;
+     541             :         }
+     542             :       }
+     543             :     }
+     544      302278 :     innovation_ok_ = true;
+     545             :   }
+     546             : 
+     547      521453 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     548             :   try {
+     549             :     // Apply the correction step
+     550             :     {
+     551     1041063 :       std::scoped_lock lock(mutex_lkf_);
+     552      521632 :       H_        = H_t::Zero();
+     553      521225 :       H_(H_idx) = 1;
+     554      521014 :       lkf_->H   = H_;
+     555      520207 :       if (is_repredictor_enabled_) {
+     556             : 
+     557           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     558             :       } else {
+     559      520207 :         sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     560             :       }
+     561             :     }
+     562             :   }
+     563           0 :   catch (const std::exception &e) {
+     564             :     // In case of error, alert the user
+     565           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     566             :   }
+     567             : 
+     568      517264 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     569             : }  // namespace mrs_uav_state_estimators
+     570             : /*//}*/
+     571             : 
+     572             : /*//{ isConverged() */
+     573         202 : bool AltGeneric::isConverged() {
+     574             : 
+     575             :   // TODO: check convergence by rate of change of determinant
+     576             : 
+     577         202 :   return true;
+     578             : }
+     579             : /*//}*/
+     580             : 
+     581             : /*//{ getState() */
+     582      162204 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     583      162204 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     584             : }
+     585             : 
+     586     1239052 : double AltGeneric::getState(const int &state_idx_in) const {
+     587     1239052 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     588             : }
+     589             : /*//}*/
+     590             : 
+     591             : /*//{ setState() */
+     592           0 : void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     593           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     594           0 : }
+     595             : 
+     596         300 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     597         300 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     598         300 : }
+     599             : /*//}*/
+     600             : 
+     601             : /*//{ getStates() */
+     602      333649 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     603      666456 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     604             : }
+     605             : /*//}*/
+     606             : 
+     607             : /*//{ setStates() */
+     608           0 : void AltGeneric::setStates(const states_t &states_in) {
+     609           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     610           0 : }
+     611             : /*//}*/
+     612             : 
+     613             : /*//{ getCovariance() */
+     614           0 : double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     615           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     616             : }
+     617             : 
+     618      723346 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     619      723346 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ getCovarianceMatrix() */
+     624      333397 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     625      666210 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     626             : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ setCovarianceMatrix() */
+     630           0 : void AltGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     631           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     632           0 : }
+     633             : /*//}*/
+     634             : 
+     635             : /*//{ getInnovation() */
+     636      206452 : double AltGeneric::getInnovation(const int &state_idx) const {
+     637      206452 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     638             : }
+     639             : 
+     640           0 : double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     641           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     642             : }
+     643             : /*//}*/
+     644             : 
+     645             : /*//{ setDt() */
+     646      333711 : void AltGeneric::setDt(const double &dt) {
+     647      333711 :   dt_ = dt;
+     648      333711 :   generateA();
+     649      333528 :   generateB();
+     650      667018 :   std::scoped_lock lock(mutex_lkf_);
+     651      333573 :   lkf_->A = A_;
+     652      333449 :   lkf_->B = B_;
+     653      333432 : }
+     654             : /*//}*/
+     655             : 
+     656             : /*//{ setInputCoeff() */
+     657         392 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     658         392 :   input_coeff_ = input_coeff;
+     659         392 :   generateA();
+     660         392 :   generateB();
+     661         773 :   std::scoped_lock lock(mutex_lkf_);
+     662         385 :   lkf_->A = A_;
+     663         390 :   lkf_->B = B_;
+     664             : 
+     665         389 :   if (is_repredictor_enabled_) {
+     666           0 :     models_.clear();
+     667           0 :     generateRepredictorModels(input_coeff_);
+     668             :   }
+     669         388 : }
+     670             : /*//}*/
+     671             : 
+     672             : /*//{ generateRepredictorModels() */
+     673           0 : void AltGeneric::generateRepredictorModels(const double input_coeff) {
+     674             : 
+     675           0 :     for (int i = 0; i < alt_generic::n_states; i++) {
+     676             : 
+     677           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     678           0 :         A_t A;
+     679             :         // clang-format off
+     680           0 :         A <<
+     681           0 :           1, dt, 0.5 * dt * dt,
+     682           0 :           0, 1, dt,
+     683           0 :           0, 0, 1-(input_coeff * dt);
+     684             :         // clang-format on
+     685           0 :         return A;
+     686           0 :       };
+     687             : 
+     688           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     689           0 :         B_t B = B.Zero();
+     690             :         // clang-format off
+     691           0 :         B <<
+     692             :           0,
+     693           0 :           0,
+     694           0 :           (input_coeff * dt);
+     695             :         // clang-format on
+     696           0 :         return B;
+     697           0 :       };
+     698             : 
+     699           0 :       H_t H = H_t::Zero();
+     700           0 :       H(i)  = 1;
+     701           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     702             :     }
+     703           0 : }
+     704             : /*//}*/
+     705             : 
+     706             : /*//{ generateA() */
+     707      334323 : void AltGeneric::generateA() {
+     708             : 
+     709             :   // clang-format off
+     710      334323 :     A_ <<
+     711      334068 :       1, dt_, 0.5 * dt_ * dt_,
+     712      334138 :       0, 1, dt_,
+     713      334205 :       0, 0, 1-(input_coeff_ * dt_);
+     714             :   // clang-format on
+     715      334070 : }
+     716             : /*//}*/
+     717             : 
+     718             : /*//{ generateB() */
+     719      334313 : void AltGeneric::generateB() {
+     720             : 
+     721             :   // clang-format off
+     722      334313 :     B_ <<
+     723             :       0,
+     724      333982 :       0,
+     725      334030 :       (input_coeff_ * dt_);
+     726             :   // clang-format on
+     727      333938 : }
+     728             : /*//}*/
+     729             : 
+     730             : /*//{ callbackReconfigure() */
+     731         202 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     732             : 
+     733         202 :   if (!isInitialized()) {
+     734         202 :     return;
+     735             :   }
+     736             : 
+     737           0 :   Q_t Q;
+     738           0 :   Q(POSITION, POSITION)         = config.pos;
+     739           0 :   Q(VELOCITY, VELOCITY)         = config.vel;
+     740           0 :   Q(ACCELERATION, ACCELERATION) = config.acc;
+     741           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     742             : }
+     743             : /*//}*/
+     744             : 
+     745             : /*//{ getNamespacedName() */
+     746        1305 : std::string AltGeneric::getNamespacedName() const {
+     747        2610 :   return parent_state_est_name_ + "/" + getName();
+     748             : }
+     749             : /*//}*/
+     750             : 
+     751             : /*//{ getPrintName() */
+     752        1564 : std::string AltGeneric::getPrintName() const {
+     753        3128 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     754             : }
+     755             : /*//}*/
+     756             : };  // namespace mrs_uav_state_estimators
+
+
+
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..610a70c21a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func-sort-c.html @@ -0,0 +1,216 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp - functions + + + + + + + + + + + + + + +
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:03580.0 %
Date:2024-10-08 22:31:24Functions:0340.0 %
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::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::generateRepredictorModels(double)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
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html new file mode 100644 index 0000000000..8301304c62 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html @@ -0,0 +1,216 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03580.0 %
Date:2024-10-08 22:31:24Functions:0340.0 %
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::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::generateRepredictorModels(double)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
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..ca94edb8e3 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,796 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03580.0 %
Date:2024-10-08 22:31:24Functions:0340.0 %
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           0 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40           0 :   if (is_core_plugin_) {
+      41             : 
+      42           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49           0 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50           0 :   ph->param_loader->loadParam("position_innovation_limit", pos_innovation_limit_);
+      51           0 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      52           0 :   if (is_repredictor_enabled_) {
+      53           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      54             :   }
+      55             : 
+      56             :   // | --------------- corrections initialization --------------- |
+      57           0 :   ph->param_loader->loadParam("corrections", correction_names_);
+      58             : 
+      59           0 :   for (auto corr_name : correction_names_) {
+      60           0 :     corrections_.push_back(std::make_shared<Correction<hdg_generic::n_measurements>>(
+      61           0 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::HEADING, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      62           0 :         [this](const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      63           0 :           return this->doCorrection(meas, R, state);
+      64             :         }));
+      65             :   }
+      66             : 
+      67           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      68             : 
+      69             :   // | ----------- initialize process noise covariance ---------- |
+      70           0 :   Q_ = Q_t::Zero();
+      71             :   double tmp_noise;
+      72           0 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      73           0 :   Q_(POSITION, POSITION) = tmp_noise;
+      74           0 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      75           0 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      76             : 
+      77             :   // | ------- check if all parameters loaded successfully ------ |
+      78           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      79           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      80           0 :     ros::shutdown();
+      81             :   }
+      82             : 
+      83             :   // | ------------- initialize dynamic reconfigure ------------- |
+      84             :   drmgr_ =
+      85           0 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&HdgGeneric::callbackReconfigure, this, _1, _2));
+      86           0 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      87           0 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      88           0 :   drmgr_->update_config(drmgr_->config);
+      89             : 
+      90             :   // | --------------- Kalman filter intialization -------------- |
+      91           0 :   const x_t        x0 = x_t::Zero();
+      92           0 :   const P_t        P0 = 1e3 * P_t::Identity();
+      93           0 :   const statecov_t sc0({x0, P0});
+      94           0 :   sc_ = sc0;
+      95             : 
+      96           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      97           0 :   if (is_repredictor_enabled_) {
+      98             : 
+      99           0 :     generateRepredictorModels(input_coeff_);
+     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<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), 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<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     197             :   }
+     198             : 
+     199           0 :   changeState(INITIALIZED_STATE);
+     200           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     201             : 
+     202           0 :   return true;
+     203             : }
+     204             : /*//}*/
+     205             : 
+     206             : /* timerUpdate() //{*/
+     207           0 : void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
+     208             : 
+     209           0 :   if (!isInitialized()) {
+     210           0 :     return;
+     211             :   }
+     212             : 
+     213           0 :   switch (getCurrentSmState()) {
+     214             : 
+     215           0 :     case UNINITIALIZED_STATE: {
+     216           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     217           0 :       break;
+     218             :     }
+     219             : 
+     220           0 :     case READY_STATE: {
+     221           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     222           0 :       break;
+     223             :     }
+     224             : 
+     225           0 :     case INITIALIZED_STATE: {
+     226             :       // initialize the estimator with current corrections
+     227           0 :       for (auto correction : corrections_) {
+     228           0 :         auto res = correction->getProcessedCorrection();
+     229           0 :         if (res) {
+     230           0 :           auto measurement_stamped = res.value();
+     231           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     232           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     233             :         } else {
+     234           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     235             :                             correction->getNamespacedName().c_str());
+     236           0 :           return;
+     237             :         }
+     238             :       }
+     239           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     240           0 :       changeState(READY_STATE);
+     241           0 :       break;
+     242             :     }
+     243             : 
+     244           0 :     case STARTED_STATE: {
+     245           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     246           0 :       if (isConverged()) {
+     247           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     248           0 :         changeState(RUNNING_STATE);
+     249             :       }
+     250           0 :       break;
+     251             :     }
+     252             : 
+     253           0 :     case RUNNING_STATE: {
+     254           0 :       for (auto correction : corrections_) {
+     255           0 :         if (!correction->isHealthy()) {
+     256           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     257           0 :           changeState(ERROR_STATE);
+     258             :         }
+     259             :       }
+     260           0 :       break;
+     261             :     }
+     262             : 
+     263           0 :     case STOPPED_STATE: {
+     264           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     265           0 :       break;
+     266             :     }
+     267             : 
+     268           0 :     case ERROR_STATE: {
+     269           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     270           0 :       bool all_corrections_healthy = true;
+     271           0 :       for (auto correction : corrections_) {
+     272           0 :         if (!correction->isHealthy()) {
+     273           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     274           0 :           all_corrections_healthy = false;
+     275             :         }
+     276             :       }
+     277             :       // initialize the estimator again if corrections become healthy
+     278           0 :       if (all_corrections_healthy && innovation_ok_) {
+     279           0 :         changeState(INITIALIZED_STATE);
+     280             :       }
+     281           0 :       break;
+     282             :     }
+     283             :   }
+     284             : 
+     285           0 :   if (sh_control_input_.newMsg()) {
+     286           0 :     is_input_ready_ = true;
+     287             :   }
+     288             : 
+     289             :   // check age of input
+     290           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     291           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     292             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     293           0 :     is_input_ready_ = false;
+     294             :   }
+     295             : 
+     296           0 :   if (!isRunning() && !isStarted()) {
+     297           0 :     return;
+     298             :   }
+     299             : 
+     300           0 :   if (first_iter_) {
+     301           0 :     first_iter_ = false;
+     302           0 :     return;
+     303             :   }
+     304             : 
+     305           0 :   double dt = (event.current_real - event.last_real).toSec();
+     306           0 :   if (dt <= 0.0 || dt > 1.0) {
+     307           0 :     return;
+     308             :   }
+     309             : 
+     310           0 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     311           0 :     setDt(dt);
+     312             :   }
+     313             : 
+     314             :   // go through available corrections and apply them
+     315             :   /* for (auto correction : corrections_) { */
+     316             :   /*   auto res = correction->getProcessedCorrection(); */
+     317             :   /*   if (res) { */
+     318             :   /*     auto measurement_stamped = res.value(); */
+     319             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     320             :   /*   } */
+     321             :   /* } */
+     322             : 
+     323             :   // prediction step
+     324           0 :   u_t       u;
+     325           0 :   ros::Time input_stamp;
+     326           0 :   if (is_input_ready_) {
+     327           0 :     input_stamp = sh_control_input_.getMsg()->header.stamp;
+     328           0 :     if (input_coeff_ != default_input_coeff_){
+     329           0 :       setInputCoeff(default_input_coeff_);
+     330             :     }
+     331           0 :     u(0) = sh_control_input_.getMsg()->control_hdg_rate;
+     332             :   } else {
+     333           0 :     input_stamp = ros::Time::now();
+     334           0 :     if (input_coeff_ != 0){
+     335           0 :       setInputCoeff(0);
+     336             :     }
+     337           0 :     u = u_t::Zero();
+     338             :   }
+     339             : 
+     340           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     341           0 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     342             :   try {
+     343             :     // Apply the prediction step
+     344           0 :     std::scoped_lock lock(mutex_lkf_);
+     345           0 :     if (is_repredictor_enabled_) {
+     346           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     347           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     348             :     } else {
+     349           0 :       sc = lkf_->predict(sc, u, Q, dt_);
+     350             :     }
+     351             :   }
+     352           0 :   catch (const std::exception &e) {
+     353             :     // In case of error, alert the user
+     354           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     355             :   }
+     356             : 
+     357           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     358             : 
+     359           0 :   if (!isError()) {
+     360           0 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, sc.x(POSITION), last_valid_hdg_);
+     361             :   }
+     362             : 
+     363             :   // publishing
+     364           0 :   publishInput(u, input_stamp);
+     365           0 :   publishOutput();
+     366           0 :   publishDiagnostics();
+     367             : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ timerCheckHealth() */
+     371           0 : void HdgGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     372             : 
+     373           0 :   if (!isInitialized()) {
+     374           0 :     return;
+     375             :   }
+     376             : 
+     377           0 :   switch (getCurrentSmState()) {
+     378             : 
+     379           0 :     case UNINITIALIZED_STATE: {
+     380           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     381           0 :       break;
+     382             :     }
+     383             : 
+     384           0 :     case READY_STATE: {
+     385           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     386           0 :       break;
+     387             :     }
+     388             : 
+     389           0 :     case INITIALIZED_STATE: {
+     390             :       // initialize the estimator with current corrections
+     391           0 :       for (auto correction : corrections_) {
+     392           0 :         auto res = correction->getProcessedCorrection();
+     393           0 :         if (res) {
+     394           0 :           auto measurement_stamped = res.value();
+     395           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     396           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     397             :         } else {
+     398           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     399             :                             correction->getNamespacedName().c_str());
+     400           0 :           return;
+     401             :         }
+     402             :       }
+     403           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     404           0 :       changeState(READY_STATE);
+     405           0 :       break;
+     406             :     }
+     407             : 
+     408           0 :     case STARTED_STATE: {
+     409           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     410           0 :       if (isConverged()) {
+     411           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     412           0 :         changeState(RUNNING_STATE);
+     413             :       }
+     414           0 :       break;
+     415             :     }
+     416             : 
+     417           0 :     case RUNNING_STATE: {
+     418           0 :       for (auto correction : corrections_) {
+     419           0 :         if (!correction->isHealthy()) {
+     420           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     421           0 :           changeState(ERROR_STATE);
+     422             :         }
+     423             :       }
+     424           0 :       break;
+     425             :     }
+     426             : 
+     427           0 :     case STOPPED_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case ERROR_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     434           0 :       bool all_corrections_healthy = true;
+     435           0 :       for (auto correction : corrections_) {
+     436           0 :         if (!correction->isHealthy()) {
+     437           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     438           0 :           all_corrections_healthy = false;
+     439             :         }
+     440             :       }
+     441             :       // initialize the estimator again if corrections become healthy
+     442           0 :       if (all_corrections_healthy) {
+     443           0 :         changeState(INITIALIZED_STATE);
+     444             :       }
+     445           0 :       break;
+     446             :     }
+     447             :   }
+     448             : 
+     449           0 :   if (sh_control_input_.newMsg()) {
+     450           0 :     is_input_ready_ = true;
+     451             :   }
+     452             : 
+     453             :   // check age of input
+     454           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     455           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     456             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     457           0 :     is_input_ready_ = false;
+     458             :   }
+     459             : }
+     460             : /*//}*/
+     461             : 
+     462             : /*//{ doCorrection() */
+     463           0 : void HdgGeneric::doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     464           0 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     465           0 : }
+     466             : /*//}*/
+     467             : 
+     468             : /*//{ doCorrection() */
+     469           0 : void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     470             : 
+     471           0 :   if (!isInitialized()) {
+     472           0 :     return;
+     473             :   }
+     474             : 
+     475             :   // copy measurement as we might need to modify it (unwrap)
+     476           0 :   z_t meas = z;
+     477             : 
+     478             :   // we do not want to perform corrections until the estimator is initialized
+     479           0 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     480           0 :     return;
+     481             :   }
+     482             : 
+     483           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     484             : 
+     485             :   // for position state check the innovation
+     486           0 :   if (H_idx == POSITION) {
+     487             : 
+     488             :     // unwrap the hdg measurement wrt current state
+     489           0 :     meas(POSITION) = mrs_lib::geometry::radians::unwrap(meas(POSITION), sc.x(POSITION));
+     490             : 
+     491           0 :     std::scoped_lock lock(mtx_innovation_);
+     492             : 
+     493           0 :     innovation_(0) = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(meas(0)), mrs_lib::geometry::radians(sc.x(POSITION)));
+     494             : 
+     495           0 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     496           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - hdg: %.2f", getPrintName().c_str(), innovation_(0));
+     497           0 :       innovation_ok_ = false;
+     498           0 :       changeState(ERROR_STATE);
+     499             :     }
+     500             :   }
+     501             : 
+     502             :   try {
+     503             :     // Apply the correction step
+     504             :     {
+     505           0 :       std::scoped_lock lock(mutex_lkf_);
+     506           0 :       H_        = H_t::Zero();
+     507           0 :       H_(H_idx) = 1;
+     508           0 :       lkf_->H   = H_;
+     509           0 :       if (is_repredictor_enabled_) {
+     510           0 :         lkf_rep_->addMeasurement(meas, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     511             :       } else {
+     512           0 :         sc = lkf_->correct(sc, meas, R_t::Ones() * R);
+     513             :       }
+     514             :     }
+     515           0 :     innovation_ok_ = true;
+     516             :   }
+     517           0 :   catch (const std::exception &e) {
+     518             :     // In case of error, alert the user
+     519           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     520             :   }
+     521             : 
+     522           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ isConverged() */
+     527           0 : bool HdgGeneric::isConverged() {
+     528             : 
+     529             :   // TODO: check convergence by rate of change of determinant
+     530             : 
+     531           0 :   return true;
+     532             : }
+     533             : /*//}*/
+     534             : 
+     535             : /*//{ getState() */
+     536           0 : double HdgGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     537           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     538             : }
+     539             : 
+     540           0 : double HdgGeneric::getState(const int &state_idx_in) const {
+     541           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     542             : }
+     543             : /*//}*/
+     544             : 
+     545             : /*//{ setState() */
+     546           0 : void HdgGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     547           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     548           0 : }
+     549             : 
+     550           0 : void HdgGeneric::setState(const double &state_in, const int &state_idx_in) {
+     551           0 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     552           0 : }
+     553             : /*//}*/
+     554             : 
+     555             : /*//{ getStates() */
+     556           0 : HdgGeneric::states_t HdgGeneric::getStates(void) const {
+     557           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     558             : }
+     559             : /*//}*/
+     560             : 
+     561             : /*//{ setStates() */
+     562           0 : void HdgGeneric::setStates(const states_t &states_in) {
+     563           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     564           0 : }
+     565             : /*//}*/
+     566             : 
+     567             : /*//{ getCovariance() */
+     568           0 : double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     569           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     570             : }
+     571             : 
+     572           0 : double HdgGeneric::getCovariance(const int &state_idx_in) const {
+     573           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getCovarianceMatrix() */
+     578           0 : HdgGeneric::covariance_t HdgGeneric::getCovarianceMatrix(void) const {
+     579           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     580             : }
+     581             : /*//}*/
+     582             : 
+     583             : /*//{ setCovarianceMatrix() */
+     584           0 : void HdgGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     585           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     586           0 : }
+     587             : /*//}*/
+     588             : 
+     589             : /*//{ getInnovation() */
+     590           0 : double HdgGeneric::getInnovation(const int &state_idx) const {
+     591           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     592             : }
+     593             : 
+     594           0 : double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     595           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     596             : }
+     597             : /*//}*/
+     598             : 
+     599             : /*//{ setDt() */
+     600           0 : void HdgGeneric::setDt(const double &dt) {
+     601           0 :   dt_ = dt;
+     602           0 :   generateA();
+     603           0 :   generateB();
+     604           0 :   std::scoped_lock lock(mutex_lkf_);
+     605           0 :   lkf_->A = A_;
+     606           0 :   lkf_->B = B_;
+     607           0 : }
+     608             : /*//}*/
+     609             : 
+     610             : /*//{ setInputCoeff() */
+     611           0 : void HdgGeneric::setInputCoeff(const double &input_coeff) {
+     612           0 :   input_coeff_ = input_coeff;
+     613           0 :   generateA();
+     614           0 :   generateB();
+     615           0 :   std::scoped_lock lock(mutex_lkf_);
+     616           0 :   lkf_->A = A_;
+     617           0 :   lkf_->B = B_;
+     618             : 
+     619           0 :   if (is_repredictor_enabled_) {
+     620           0 :     models_.clear();
+     621           0 :     generateRepredictorModels(input_coeff_);
+     622             :   }
+     623           0 : }
+     624             : /*//}*/
+     625             : 
+     626             : /*//{ generateRepredictorModels() */
+     627           0 : void HdgGeneric::generateRepredictorModels(const double input_coeff) {
+     628             : 
+     629           0 :     for (int i = 0; i < hdg_generic::n_states; i++) {
+     630             : 
+     631           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     632           0 :         A_t A;
+     633             :         // clang-format off
+     634           0 :         A <<
+     635           0 :           1, dt,
+     636           0 :           0, 1-(input_coeff * dt);
+     637             :         // clang-format on
+     638           0 :         return A;
+     639           0 :       };
+     640             : 
+     641           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     642           0 :         B_t B = B.Zero();
+     643             :         // clang-format off
+     644           0 :         B <<
+     645             :           0,
+     646           0 :           (input_coeff * dt);
+     647             :         // clang-format on
+     648           0 :         return B;
+     649           0 :       };
+     650             : 
+     651           0 :       H_t H = H_t::Zero();
+     652           0 :       H(i)  = 1;
+     653           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     654             :     }
+     655           0 : }
+     656             : /*//}*/
+     657             : 
+     658             : /*//{ generateA() */
+     659           0 : void HdgGeneric::generateA() {
+     660             : 
+     661             :   // clang-format off
+     662           0 :     A_ <<
+     663           0 :       1, dt_,
+     664           0 :       0, 1-(input_coeff_ * dt_);
+     665             :   // clang-format on
+     666           0 : }
+     667             : /*//}*/
+     668             : 
+     669             : /*//{ generateB() */
+     670           0 : void HdgGeneric::generateB() {
+     671             : 
+     672             :   // clang-format off
+     673           0 :     B_ <<
+     674             :       0,
+     675           0 :       (input_coeff_ * dt_);
+     676             :   // clang-format on
+     677           0 : }
+     678             : /*//}*/
+     679             : 
+     680             : /*//{ getLastValidHdg() */
+     681           0 : double HdgGeneric::getLastValidHdg() const {
+     682           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     683             : }
+     684             : /*//}*/
+     685             : 
+     686             : /*//{ callbackReconfigure() */
+     687           0 : void HdgGeneric::callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     688             : 
+     689           0 :   if (!isInitialized()) {
+     690           0 :     return;
+     691             :   }
+     692             : 
+     693           0 :   Q_t Q;
+     694           0 :   Q(POSITION, POSITION) = config.pos;
+     695           0 :   Q(VELOCITY, VELOCITY) = config.vel;
+     696           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     697             : }
+     698             : /*//}*/
+     699             : 
+     700             : /*//{ getNamespacedName() */
+     701           0 : std::string HdgGeneric::getNamespacedName() const {
+     702           0 :   return parent_state_est_name_ + "/" + getName();
+     703             : }
+     704             : /*//}*/
+     705             : 
+     706             : /*//{ getPrintName() */
+     707           0 : std::string HdgGeneric::getPrintName() const {
+     708           0 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     709             : }
+     710             : /*//}*/
+     711             : 
+     712             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + 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..b2c7da63ee --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html @@ -0,0 +1,198 @@ + + + + + + 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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + 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..f3bcd18d64053a8bee215252b27280e4b4803f09 GIT binary patch literal 2312 zcmV+j3HSDiP)RGaN<3|zBMI@TE#PU-5u=>d+Ns*?Q)3)Y7#U^< za!hgbl>^pVqU$;xb4&>cRCc7tofuiptm2xK!Z6lUHdm!sd93MpiVd&RA!d@Fl~ zpE}K2G?iqGhM_VdR6pyU`r7~WGZ$ta&Ya+x7U3D$m>r9PL>W*CSM(xN-$V^S7|4Gb#!04zp`=4&Bg1sW+nIVP3r^J-9 zY3?Kt!o>(+iQOy>%?X#h2|gh#gSR6%nutr1i8iM&yHvY(Y+A{a-N%0RLQcG zo3%nVF!3o@G0Mn3AIUh*dzKW%e3fPtq&Uf0&s2_(5ARDI!uyo9Cv2@L61vDyn7f}^ zC3L7Vo@wuKmkGf^rXJzv!$ZY71jS@#uL$UOE_4+(Q#;wkcFrWR)=5m)uh zb+HE?eQw5UPPEQ{gdkw6!-rdT^bZgJB1abwA6tDQ!R-jrnPo%DaAw9cDHBu)Yu#i+ zP1Vg{;1Wu?+STS1%2Kd;E;SLPRyb>>W-K7G2}3rVzq5>*!*Q6wi%i*5KNz=xnI4+& zkDdn;9#e7-S7or3GN6oL2%pH!PKb}C1T`k?3g(vlO+a^6e1sa^r=W)x z8V53hQ}4C+!%i_}iYYr8j5SkjZ&xCohGD8o_%Gj+v&)h+ou|8hL*kH<;b=IRL z%=>x1Rl#%glXJnbC$#z@GPSR|;u(LHqo1`wS%4XLu83d36tUZEpmQ$IF?H^$zH2pD zS!<4Zf@CoK?6|-pE@vFq;oG%KVR!_%!&1;fvk;`L+nUt1g!>UPNQ1Vp>@s2BV>b;H z#6l%#pRX}E9#Vi)X}1c~I^JEGOrO^^0^QRV7r^meOJS?_Il2@sS7v^{PKc;-<3L!Q zocWCRPQdj?Ly6IjL z1Hzx{)l0)gnc`(G_2cTeE^db|B}oP0VN@WOIZA8bJo99&ZK`h#stT7K_vFCT%cxrM zYGrm?7Z}utsO~@75HUUVu=IJoXOb?KCWXGS;V*e7&s-tn;@5t;Dx8a(U1=p0|Kg3h z)Sl!DFz;o*;JW4}W*H6n58)~?X$Y5BX^LjnuP$VH!hXD(Pk!qDfAi+S=p(_iNJ^n_0%w{p+IjV81R}5BF=bwJB4> zT95k)h47@JwCzCA<}4Aow!JmeH3EF60+cbPDcZ`Zx>5r>Ep56k0fYx`0y`;Bg=Cn) zBU8M>0NHR1eQ<&B=p5IOlZnsYMoYm(gQPpY5@GgCDwj1SvzQj1-%SzPXY*YE4Zgx< z&hk7*`o>wAJ<@tHwJ?L)UXoTfkBI)7@X8(%$tQ+8eAh!FXr=9>r-!7-`1FvT9umXx z=^;Hmq)x`|`laynkT}Aphcq_$(?fcCNIl1!0QVbuNK%k|dPqa~K0TxgJ7!Sf+gG% z!>uDkw_(^b1mHs%(a`+=Y&PAY_o3aq*dTn*?uGdpiO&p3lJb$BU-7_FdO?H6cWW%3 z-_Rd3dVsivAg$5*Sd zr-Wu1{)6~PWpu|Zzh%c-cglQ+*1WFCe<=X5tI%!zLi+YqSOr~a z71oX6DXrl#kn!wDaTXruUkDNoJ)DdaFKqYYctYi19|;jDal-FdTugLio<3<_d_O8R z{UsNw!WEA2*>$W0Lr4clh*lMDfky?ELUbgkOdC6@jENlx>#8EVZ3{m$97!{tK0V~w z+KO;lCgB|;PcuV63@p1AXe#AT2@ZUc(@q1IGS~*9U zAwGDcBm!^qxbRRHLQ|Wx3e}51U*tm7i(8kbwB^67^&p`k!SMRy-lydU8fxRu|JF?x zD1$TknBvl65CxtkERd11v%8>YxM+&fHELSNw`-=nsPdLttGB~Ct=UjfYi(_FJ*1f6 iQmx}gLmztQruYw5b+`w)y)w7}0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9013367.7 %
Date:2024-10-08 22:31:24Functions: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&)115
mrs_uav_state_estimators::HdgPassthrough::start()188
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const230
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const645
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const214138
mrs_uav_state_estimators::HdgPassthrough::getStates() const214154
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)214171
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)217821
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224301
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)227053
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)451326
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const751764
+
+
+ + + +
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..26fabdddbb --- /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
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9013367.7 %
Date:2024-10-08 22:31:24Functions: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&)115
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)214171
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)217821
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)227053
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>)224301
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()188
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)451326
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]() const645
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]() const230
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const214138
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const751764
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const214154
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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/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9013367.7 %
Date:2024-10-08 22:31:24Functions: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         115 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         115 :   ch_ = ch;
+      17         115 :   ph_ = ph;
+      18             : 
+      19         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21         115 :   hdg_state_      = states_t::Zero();
+      22         115 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24         115 :   innovation_ << 
+      25         115 :     0, 0;
+      26             : 
+      27             : 
+      28             :   // | --------------- param loader initialization --------------- |
+      29             : 
+      30         115 :   if (is_core_plugin_) {
+      31             : 
+      32         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      33         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      34             :   }
+      35             : 
+      36         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      37             : 
+      38             :   // | --------------------- load parameters -------------------- |
+      39         115 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      40             : 
+      41         115 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      42         115 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      43             : 
+      44         115 :   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             :   // | ------------------ timers initialization ----------------- |
+      50         115 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      51         115 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      52             : 
+      53             :   // | --------------- subscribers initialization --------------- |
+      54             :   // subscriber to odometry
+      55         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+      56         115 :   shopts.nh                 = nh;
+      57         115 :   shopts.node_name          = getPrintName();
+      58         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      59         115 :   shopts.threadsafe         = true;
+      60         115 :   shopts.autostart          = true;
+      61         115 :   shopts.queue_size         = 10;
+      62         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      63             : 
+      64         230 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      65         115 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      66         230 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      67         115 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      68             : 
+      69             :   // | ---------------- publishers initialization --------------- |
+      70         115 :   if (ch_->debug_topics.output) {
+      71         115 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      72             :   }
+      73         115 :   if (ch_->debug_topics.diag) {
+      74           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+      75             :   }
+      76             : 
+      77             :   // | ------------------ finish initialization ----------------- |
+      78             : 
+      79         115 :   if (changeState(INITIALIZED_STATE)) {
+      80         115 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+      81             :   } else {
+      82           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      83             :   }
+      84         115 : }
+      85             : /*//}*/
+      86             : 
+      87             : /*//{ start() */
+      88         188 : bool HdgPassthrough::start(void) {
+      89             : 
+      90         188 :   if (isInState(READY_STATE)) {
+      91         115 :     timer_update_.start();
+      92         115 :     changeState(STARTED_STATE);
+      93         115 :     return true;
+      94             : 
+      95             :   } else {
+      96          73 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      97          73 :     return false;
+      98             :   }
+      99             : }
+     100             : /*//}*/
+     101             : 
+     102             : /*//{ pause() */
+     103           0 : bool HdgPassthrough::pause(void) {
+     104             : 
+     105           0 :   if (isInState(RUNNING_STATE)) {
+     106           0 :     changeState(STOPPED_STATE);
+     107           0 :     return true;
+     108             : 
+     109             :   } else {
+     110           0 :     return false;
+     111             :   }
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ reset() */
+     116           0 : bool HdgPassthrough::reset(void) {
+     117             : 
+     118           0 :   if (!isInitialized()) {
+     119           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     120           0 :     return false;
+     121             :   }
+     122             : 
+     123           0 :   changeState(STOPPED_STATE);
+     124             : 
+     125           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     126             : 
+     127           0 :   return true;
+     128             : }
+     129             : /*//}*/
+     130             : 
+     131             : /*//{ callbackOrientation() */
+     132      227053 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     133             : 
+     134      227053 :   if (!isInitialized()) {
+     135          35 :     return;
+     136             :   }
+     137             : 
+     138             :   double hdg;
+     139             :   try {
+     140      227008 :     hdg = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     141             :   }
+     142           0 :   catch (...) {
+     143           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     144             :   }
+     145             : 
+     146      227015 :   setState(hdg, POSITION);
+     147             : 
+     148      226970 :   if (!isError()) {
+     149      226957 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     150             :   }
+     151             : }
+     152             : /*//}*/
+     153             : 
+     154             : /*//{ callbackAngularVelocity() */
+     155      224301 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     156             : 
+     157      224301 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     158           0 :     return;
+     159             :   }
+     160             : 
+     161             :   double hdg_rate;
+     162             :   try {
+     163      224295 :     hdg_rate = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+     164             :   }
+     165           0 :   catch (...) {
+     166           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     167             :   }
+     168             : 
+     169      224063 :   setState(hdg_rate, VELOCITY);
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /* timerUpdate() //{*/
+     174      214171 : void HdgPassthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     175             : 
+     176             : 
+     177      214171 :   if (!isInitialized()) {
+     178           0 :     return;
+     179             :   }
+     180             : 
+     181      214150 :   publishOutput();
+     182      214188 :   publishDiagnostics();
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ timerCheckHealth() */
+     187      217821 : void HdgPassthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     188             : 
+     189      217821 :   if (!isInitialized()) {
+     190           4 :     return;
+     191             :   }
+     192             : 
+     193      217820 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     194             : 
+     195         115 :     changeState(READY_STATE);
+     196         115 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     197             :   }
+     198             : 
+     199      217819 :   if (isInState(STARTED_STATE)) {
+     200             : 
+     201         115 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     202         115 :     changeState(RUNNING_STATE);
+     203             :   }
+     204             : 
+     205      217820 :   if (sh_orientation_.hasMsg()) {
+     206      216375 :     is_orient_ready_ = true;
+     207             :   } else {
+     208        1445 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     209             :   }
+     210             : 
+     211      217820 :   if (sh_ang_vel_.hasMsg()) {
+     212      214553 :     is_ang_vel_ready_ = true;
+     213             :   } else {
+     214        3267 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity yet", getPrintName().c_str());
+     215             :   }
+     216             : }
+     217             : /*//}*/
+     218             : 
+     219             : /*//{ getState() */
+     220           0 : double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
+     221           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     222             : }
+     223             : 
+     224      751764 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     225      751764 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     226             : }
+     227             : /*//}*/
+     228             : 
+     229             : /*//{ setState() */
+     230           0 : void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     231           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     232           0 : }
+     233             : 
+     234      451326 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     235             : 
+     236      451326 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     237      451035 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     238      451079 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     239             : 
+     240      450998 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     241      450834 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     242      451104 : }
+     243             : /*//}*/
+     244             : 
+     245             : /*//{ getStates() */
+     246      214154 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     247      214154 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_);
+     248             : }
+     249             : /*//}*/
+     250             : 
+     251             : /*//{ setStates() */
+     252           0 : void HdgPassthrough::setStates(const states_t &states_in) {
+     253           0 :   mrs_lib::set_mutexed(mtx_hdg_state_, states_in, hdg_state_);
+     254           0 : }
+     255             : /*//}*/
+     256             : 
+     257             : /*//{ getCovariance() */
+     258           0 : double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
+     259           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     260             : }
+     261             : 
+     262           0 : double HdgPassthrough::getCovariance(const int &state_idx_in) const {
+     263           0 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_(state_idx_in, state_idx_in));
+     264             : }
+     265             : /*//}*/
+     266             : 
+     267             : /*//{ getCovarianceMatrix() */
+     268      214138 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     269      214138 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_);
+     270             : }
+     271             : /*//}*/
+     272             : 
+     273             : /*//{ setCovarianceMatrix() */
+     274           0 : void HdgPassthrough::setCovarianceMatrix(const covariance_t &cov_in) {
+     275           0 :   mrs_lib::set_mutexed(mtx_hdg_covariance_, cov_in, hdg_covariance_);
+     276           0 : }
+     277             : /*//}*/
+     278             : 
+     279             : /*//{ getInnovation() */
+     280           0 : double HdgPassthrough::getInnovation(const int &state_idx) const {
+     281           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_(state_idx));
+     282             : }
+     283             : 
+     284           0 : double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
+     285           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     286             : }
+     287             : /*//}*/
+     288             : 
+     289             : /*//{ getLastValidHdg() */
+     290           0 : double HdgPassthrough::getLastValidHdg() const {
+     291           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     292             : }
+     293             : /*//}*/
+     294             : 
+     295             : /*//{ getNamespacedName() */
+     296         230 : std::string HdgPassthrough::getNamespacedName() const {
+     297         460 :   return parent_state_est_name_ + "/" + getName();
+     298             : }
+     299             : /*//}*/
+     300             : 
+     301             : /*//{ getPrintName() */
+     302         645 : std::string HdgPassthrough::getPrintName() const {
+     303        1290 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     304             : }
+     305             : /*//}*/
+     306             : 
+     307             : };  // namespace mrs_uav_state_estimators
+
+
+
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Date:2024-10-08 22:31:24Functions:253375.8 %
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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::generateRepredictorModels(double)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::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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&)115
mrs_uav_state_estimators::LatGeneric::isConverged()115
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)223
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)367
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)367
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const694
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1053
mrs_uav_state_estimators::LatGeneric::start()3886
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) const7729
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const194700
mrs_uav_state_estimators::LatGeneric::setDt(double const&)194705
mrs_uav_state_estimators::LatGeneric::getStates() const194708
mrs_uav_state_estimators::LatGeneric::generateA()195037
mrs_uav_state_estimators::LatGeneric::generateB()195041
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)217480
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&)225380
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) const225485
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)225492
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const412895
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const412896
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const825794
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const825799
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1674702
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1674921
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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:24143855.0 %
Date:2024-10-08 22:31:24Functions:253375.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)115
mrs_uav_state_estimators::LatGeneric::isConverged()115
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)217480
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&)225380
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)225492
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)223
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setDt(double const&)194705
mrs_uav_state_estimators::LatGeneric::start()3886
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)367
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)367
mrs_uav_state_estimators::LatGeneric::generateA()195037
mrs_uav_state_estimators::LatGeneric::generateB()195041
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1053
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const825794
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const825799
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const412895
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const412896
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const694
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const194700
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1674702
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1674921
mrs_uav_state_estimators::LatGeneric::getStates() const194708
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) const225485
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) const7729
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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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:24143855.0 %
Date:2024-10-08 22:31:24Functions:253375.8 %
Legend: Lines: + hit + not hit +
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+
          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         115 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15         115 :   ch_ = ch;
+      16         115 :   ph_ = ph;
+      17             : 
+      18         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21         115 :   dt_ = 0.01;
+      22         115 :   input_coeff_ = 10;
+      23         115 :   default_input_coeff_ = 10;
+      24             : 
+      25         115 :   generateA();
+      26         115 :   generateB();
+      27             : 
+      28         115 :   H_ <<
+      29         115 :     1, 0, 0, 0, 0, 0,
+      30         115 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32         115 :   innovation_ << 
+      33         115 :     0, 0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40         115 :   if (is_core_plugin_) {
+      41             : 
+      42         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49         115 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      50         115 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      51         115 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      52         115 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      53         115 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      54         115 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      55         115 :   if (is_repredictor_enabled_) {
+      56           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      57             :   }
+      58             : 
+      59             :   // | --------------- corrections initialization --------------- |
+      60         115 :   ph->param_loader->loadParam("corrections", correction_names_);
+      61             : 
+      62         234 :   for (auto corr_name : correction_names_) {
+      63         119 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      64        7967 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      65      225485 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      66      225485 :           return this->doCorrection(meas, R, state);
+      67             :         }));
+      68             :   }
+      69             : 
+      70             :   // | ------- check if all parameters loaded successfully ------ |
+      71         115 :   if (!ph->param_loader->loadedSuccessfully()) {
+      72           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      73           0 :     ros::shutdown();
+      74             :   }
+      75             : 
+      76         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      77             : 
+      78             :   // | ----------- initialize process noise covariance ---------- |
+      79         115 :   Q_ = Q_t::Zero();
+      80             :   double tmp_noise;
+      81         115 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      82         115 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      83         115 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      84         115 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      85         115 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      86         115 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      87         115 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      88         115 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      89         115 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      90             : 
+      91             :   // | ------------- initialize dynamic reconfigure ------------- |
+      92             :   drmgr_ =
+      93         115 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      94         115 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      95         115 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      96         115 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      97         115 :   drmgr_->update_config(drmgr_->config);
+      98             : 
+      99             :   // | --------------- Kalman filter intialization -------------- |
+     100         115 :   const x_t        x0 = x_t::Zero();
+     101         115 :   const P_t        P0 = 1e3 * P_t::Identity();
+     102         115 :   const statecov_t sc0({x0, P0});
+     103         115 :   sc_ = sc0;
+     104             : 
+     105         115 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     106         115 :   if (is_repredictor_enabled_) {
+     107             : 
+     108           0 :     generateRepredictorModels(input_coeff_);
+     109             : 
+     110           0 :     const u_t       u0 = u_t::Zero();
+     111           0 :     const ros::Time t0 = ros::Time::now();
+     112           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     113             : 
+     114           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     115             :   }
+     116             : 
+     117             :   // | ------------------ timers initialization ----------------- |
+     118         115 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerUpdate, this); 
+     119             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerCheckHealth, this); */
+     120             : 
+     121             :   // | --------------- subscribers initialization --------------- |
+     122             :   // subscriber to odometry
+     123         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+     124         115 :   shopts.nh                 = nh;
+     125         115 :   shopts.node_name          = getPrintName();
+     126         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     127         115 :   shopts.threadsafe         = true;
+     128         115 :   shopts.autostart          = true;
+     129         115 :   shopts.queue_size         = 10;
+     130         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     131             : 
+     132         115 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     133             :   sh_hdg_state_ =
+     134         115 :       mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput>(shopts, hdg_source_topic_);  // for transformation of desired accelerations from body to global frame
+     135             : 
+     136             :   // | ---------------- publishers initialization --------------- |
+     137         115 :   if (ch_->debug_topics.input) {
+     138         115 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     139             :   }
+     140         115 :   if (ch_->debug_topics.output) {
+     141         115 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     142             :   }
+     143         115 :   if (ch_->debug_topics.diag) {
+     144           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     145             :   }
+     146             : 
+     147             :   // | ------------------ finish initialization ----------------- |
+     148             : 
+     149         115 :   if (changeState(INITIALIZED_STATE)) {
+     150         115 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     151             :   } else {
+     152           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     153             :   }
+     154         115 : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ start() */
+     158        3886 : bool LatGeneric::start(void) {
+     159             : 
+     160        3886 :   if (isInState(READY_STATE)) {
+     161             :     /* timer_update_.start(); */
+     162         115 :     changeState(STARTED_STATE);
+     163         115 :     return true;
+     164             : 
+     165             :   } else {
+     166        3771 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     167        3771 :     return false;
+     168             :   }
+     169             : }
+     170             : /*//}*/
+     171             : 
+     172             : /*//{ pause() */
+     173           0 : bool LatGeneric::pause(void) {
+     174             : 
+     175           0 :   if (isInState(RUNNING_STATE)) {
+     176           0 :     changeState(STOPPED_STATE);
+     177           0 :     return true;
+     178             : 
+     179             :   } else {
+     180           0 :     return false;
+     181             :   }
+     182             : }
+     183             : /*//}*/
+     184             : 
+     185             : /*//{ reset() */
+     186           0 : bool LatGeneric::reset(void) {
+     187             : 
+     188           0 :   if (!isInitialized()) {
+     189           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     190           0 :     return false;
+     191             :   }
+     192             : 
+     193           0 :   changeState(STOPPED_STATE);
+     194             : 
+     195             :   // Initialize LKF state and covariance
+     196           0 :   const x_t        x0 = x_t::Zero();
+     197           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     198           0 :   const statecov_t sc0({x0, P0});
+     199           0 :   sc_ = sc0;
+     200             : 
+     201             :   // Instantiate the LKF itself
+     202           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     203           0 :   if (is_repredictor_enabled_) {
+     204             : 
+     205           0 :     const u_t       u0 = u_t::Zero();
+     206           0 :     const ros::Time t0 = ros::Time(0);
+     207           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_[0], rep_buffer_size_);
+     208             :   }
+     209             : 
+     210           0 :   changeState(INITIALIZED_STATE);
+     211           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     212             : 
+     213           0 :   return true;
+     214             : }
+     215             : /*//}*/
+     216             : 
+     217             : /* timerUpdate() //{*/
+     218      217480 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220      217480 :   if (!isInitialized()) {
+     221       22780 :     return;
+     222             :   }
+     223             : 
+     224      217462 :   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          69 :     case READY_STATE: {
+     232          69 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          69 :       break;
+     234             :     }
+     235             : 
+     236        6806 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        6990 :       for (auto correction : corrections_) {
+     239        6875 :         auto res = correction->getProcessedCorrection();
+     240        6875 :         if (res) {
+     241         184 :           auto measurement_stamped = res.value(); 
+     242         184 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         184 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         184 :           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        6691 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        6691 :           return;
+     249             :         }
+     250             :       }
+     251         115 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252         115 :       changeState(READY_STATE);
+     253         115 :       break;
+     254             :     }
+     255             : 
+     256         115 :     case STARTED_STATE: {
+     257         115 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258         115 :       if (isConverged()) {
+     259         115 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260         115 :         changeState(RUNNING_STATE);
+     261             :       }
+     262         115 :       break;
+     263             :     }
+     264             : 
+     265      210475 :     case RUNNING_STATE: {
+     266      432116 :       for (auto correction : corrections_) {
+     267      221647 :         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      210478 :       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      210783 :   if (sh_control_input_.newMsg()) {
+     319      107069 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323      210767 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324          16 :     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          16 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329      210762 :   if (fun_get_hdg_()) {
+     330      210495 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333      210778 :   if (!isRunning() && !isStarted()) {
+     334         162 :     return;
+     335             :   }
+     336             : 
+     337      210607 :   if (first_iter_) {
+     338         115 :     first_iter_ = false;
+     339         115 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343      210492 :   double dt = (event.current_real - event.last_real).toSec();
+     344      210488 :   if (dt <= 0.0 || dt > 1.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick, in case of stopping and starting the timer, the last_real is 0
+     345       15800 :     return;
+     346             :   }
+     347             : 
+     348      194688 :   if (!is_repredictor_enabled_) { // repredictor calculates dt on its own
+     349      194698 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353      194686 :   u_t       u;
+     354      194655 :   ros::Time input_stamp;
+     355      194651 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356      120587 :     auto res = fun_get_hdg_();
+     357      120596 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362      120591 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363      120511 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364      120554 :     if (input_coeff_ != default_input_coeff_){
+     365          92 :       setInputCoeff(default_input_coeff_);
+     366             :     }
+     367      120554 :     u(0) = des_acc_global.getX();
+     368      120489 :     u(1) = des_acc_global.getY();
+     369             : 
+     370             :   } else {  // this is ok before the controller starts controlling but bad during actual flight (causes delayed estimated acceleration and velocity)
+     371       74076 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     372       74086 :     input_stamp = ros::Time::now();
+     373       74086 :     if (input_coeff_ != 0){
+     374         131 :       setInputCoeff(0);
+     375             :     }
+     376       74086 :     u = u_t::Zero();
+     377             :   }
+     378             : 
+     379             :   // go through available corrections and apply them
+     380             :   /* for (auto correction : corrections_) { */
+     381             :   /*   auto res = correction->getProcessedCorrection(); */
+     382             :   /*   if (res) { */
+     383             :   /*     auto measurement_stamped = res.value(); */
+     384             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     385             :   /*   } */
+     386             :   /* } */
+     387             : 
+     388             :   // get current state, covariance, and process noise
+     389      194633 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     390      194648 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     391             : 
+     392             :   // prediction step
+     393             :   try {
+     394             :     // Apply the prediction step
+     395      389354 :     std::scoped_lock lock(mutex_lkf_);
+     396      194652 :     if (is_repredictor_enabled_) {
+     397           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     398           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     399             :     } else {
+     400      194652 :       sc = lkf_->predict(sc, u, Q, dt_);
+     401             :     }
+     402             :   }
+     403           0 :   catch (const std::exception &e) {
+     404           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     405           0 :     changeState(ERROR_STATE);
+     406             :   }
+     407             : 
+     408             :   // update the state and covariance variable that is queried by the estimation manager
+     409      194668 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     410             : 
+     411             :   // publishing
+     412      194660 :   publishInput(u, input_stamp);
+     413      194711 :   publishOutput();
+     414      194711 :   publishDiagnostics();
+     415             : }
+     416             : /*//}*/
+     417             : 
+     418             : /*//{ timerCheckHealth() */
+     419           0 : void LatGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     420             : 
+     421           0 :   if (!isInitialized()) {
+     422           0 :     return;
+     423             :   }
+     424             : 
+     425           0 :   switch (getCurrentSmState()) {
+     426             : 
+     427           0 :     case UNINITIALIZED_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case READY_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     434           0 :       break;
+     435             :     }
+     436             : 
+     437           0 :     case INITIALIZED_STATE: {
+     438             :       // initialize the estimator with current corrections
+     439           0 :       for (auto correction : corrections_) {
+     440           0 :         auto res = correction->getProcessedCorrection();
+     441           0 :         if (res) {
+     442           0 :           auto measurement_stamped = res.value();
+     443           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     444           0 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     445           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     446             :                             measurement_stamped.value(AXIS_Y));
+     447             :         } else {
+     448           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getPrintName().c_str());
+     449           0 :           return;
+     450             :         }
+     451             :       }
+     452           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     453           0 :       changeState(READY_STATE);
+     454           0 :       break;
+     455             :     }
+     456             : 
+     457           0 :     case STARTED_STATE: {
+     458           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     459           0 :       if (isConverged()) {
+     460           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     461           0 :         changeState(RUNNING_STATE);
+     462             :       }
+     463           0 :       break;
+     464             :     }
+     465             : 
+     466           0 :     case RUNNING_STATE: {
+     467           0 :       for (auto correction : corrections_) {
+     468           0 :         if (!correction->isHealthy()) {
+     469           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     470           0 :           changeState(ERROR_STATE);
+     471             :         }
+     472             :       }
+     473           0 :       break;
+     474             :     }
+     475             : 
+     476           0 :     case STOPPED_STATE: {
+     477           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     478           0 :       break;
+     479             :     }
+     480             : 
+     481           0 :     case ERROR_STATE: {
+     482           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     483           0 :       bool all_corrections_healthy = true;
+     484           0 :       for (auto correction : corrections_) {
+     485           0 :         if (!correction->isHealthy()) {
+     486           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     487           0 :           correction->resetProcessors();
+     488           0 :           all_corrections_healthy = false;
+     489             :         }
+     490             :       }
+     491             :       // initialize the estimator again if corrections become healthy
+     492           0 :       if (all_corrections_healthy) {
+     493           0 :         changeState(INITIALIZED_STATE);
+     494             :       }
+     495           0 :       break;
+     496             :     }
+     497             :   }
+     498             : 
+     499           0 :   if (sh_control_input_.newMsg()) {
+     500           0 :     is_input_ready_ = true;
+     501             :   }
+     502             : 
+     503             :   // check age of input
+     504           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     505           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     506             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     507           0 :     is_input_ready_ = false;
+     508             :   }
+     509             : 
+     510           0 :   if (fun_get_hdg_()) {
+     511           0 :     is_hdg_state_ready_ = true;
+     512             :   }
+     513             : }
+     514             : /*//}*/
+     515             : 
+     516             : /*//{ doCorrection() */
+     517      225492 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     518      225492 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     519      225472 : }
+     520             : /*//}*/
+     521             : 
+     522             : /*//{ doCorrection() */
+     523      225380 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     524             : 
+     525      225380 :   if (!isInitialized()) {
+     526         190 :     return;
+     527             :   }
+     528             : 
+     529             :   // we do not want to perform corrections until the estimator is initialized
+     530      225416 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     531         187 :     return;
+     532             :   }
+     533             : 
+     534             :   // for position state check the innovation
+     535      225124 :   if (state_id == POSITION) {
+     536             :     {
+     537      214117 :       std::scoped_lock lock(mtx_innovation_);
+     538             : 
+     539      214219 :       is_mitigating_jump_ = false;
+     540      214270 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     541      214034 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     542             : 
+     543      214165 :       if (fabs(innovation_(0)) > pos_innovation_limit_ || fabs(innovation_(1)) > pos_innovation_limit_) {
+     544           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f %.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), innovation_(1),
+     545             :                           pos_innovation_limit_);
+     546           0 :         innovation_ok_ = false;
+     547           0 :         switch (exc_innovation_action_) {
+     548           0 :           case ExcInnoAction_t::ELAND: {
+     549           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", getPrintName().c_str());
+     550           0 :             changeState(ERROR_STATE);
+     551           0 :             break;
+     552             :           }
+     553           0 :           case ExcInnoAction_t::SWITCH: {
+     554           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", getPrintName().c_str());
+     555           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?
+     556           0 :             innovation_(1) = 0.0;
+     557           0 :             changeState(ERROR_STATE);
+     558           0 :             break;
+     559             :           }
+     560           0 :           case ExcInnoAction_t::MITIGATE: {
+     561           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", getPrintName().c_str());
+     562           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?
+     563           0 :             innovation_(1)      = 0.0;
+     564           0 :             is_mitigating_jump_ = true;
+     565           0 :             setState(z(0), POSITION, AXIS_X);
+     566           0 :             setState(z(1), POSITION, AXIS_Y);
+     567           0 :             break;
+     568             :           }
+     569           0 :           case ExcInnoAction_t::NONE: {
+     570           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", getPrintName().c_str());
+     571           0 :             break;
+     572             :           }
+     573             :         }
+     574             :       }
+     575      214242 :       innovation_ok_ = true;
+     576             :     }
+     577             :   }
+     578             : 
+     579      225175 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     580             :   try {
+     581             :     // Apply the correction step
+     582      450317 :     std::scoped_lock lock(mutex_lkf_);
+     583      225191 :     H_                           = H_t::Zero();
+     584      224999 :     H_(AXIS_X, state_id * 2)     = 1;
+     585      225035 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     586      225062 :     lkf_->H                      = H_;
+     587             : 
+     588      224756 :     if (is_repredictor_enabled_) {
+     589             : 
+     590           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     591             :     } else {
+     592      224756 :       sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     593             :     }
+     594             :   }
+     595           0 :   catch (const std::exception &e) {
+     596             :     // In case of error, alert the user
+     597           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     598             :   }
+     599             : 
+     600      224951 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     601             : }  // namespace mrs_uav_state_estimators
+     602             : /*//}*/
+     603             : 
+     604             : /*//{ isConverged() */
+     605         115 : bool LatGeneric::isConverged() {
+     606             : 
+     607             :   // TODO: check convergence by rate of change of determinant
+     608             : 
+     609         115 :   return true;
+     610             : }
+     611             : /*//}*/
+     612             : 
+     613             : /*//{ getState() */
+     614     1674921 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     615     1674921 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     616             : }
+     617             : 
+     618     1674702 : double LatGeneric::getState(const int &state_idx_in) const {
+     619     1674702 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ setState() */
+     624         367 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     625         367 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     626         367 : }
+     627             : 
+     628         367 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     629         367 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     630         367 : }
+     631             : /*//}*/
+     632             : 
+     633             : /*//{ getStates() */
+     634      194708 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     635      389400 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     636             : }
+     637             : /*//}*/
+     638             : 
+     639             : /*//{ setStates() */
+     640           0 : void LatGeneric::setStates(const states_t &states_in) {
+     641           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     642           0 : }
+     643             : /*//}*/
+     644             : 
+     645             : /*//{ getCovariance() */
+     646      825799 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     647      825799 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     648             : }
+     649             : 
+     650      825794 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     651      825794 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     652             : }
+     653             : /*//}*/
+     654             : 
+     655             : /*//{ getCovarianceMatrix() */
+     656      194700 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     657      389395 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     658             : }
+     659             : /*//}*/
+     660             : 
+     661             : /*//{ setCovarianceMatrix() */
+     662           0 : void LatGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     663           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     664           0 : }
+     665             : /*//}*/
+     666             : 
+     667             : /*//{ getInnovation() */
+     668      412895 : double LatGeneric::getInnovation(const int &state_idx) const {
+     669      412895 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     670             : }
+     671             : 
+     672      412896 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     673      412896 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     674             : }
+     675             : /*//}*/
+     676             : 
+     677             : /*//{ setDt() */
+     678      194705 : void LatGeneric::setDt(const double &dt) {
+     679      194705 :   dt_ = dt;
+     680      194705 :   generateA();
+     681      194692 :   generateB();
+     682      389391 :   std::scoped_lock lock(mutex_lkf_);
+     683      194682 :   lkf_->A = A_;
+     684      194692 :   lkf_->B = B_;
+     685      194664 : }
+     686             : /*//}*/
+     687             : 
+     688             : /*//{ setInputCoeff() */
+     689         223 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     690         223 :   input_coeff_ = input_coeff;
+     691         223 :   generateA();
+     692         223 :   generateB();
+     693         446 :   std::scoped_lock lock(mutex_lkf_);
+     694         223 :   lkf_->A = A_;
+     695         223 :   lkf_->B = B_;
+     696             : 
+     697         223 :   if (is_repredictor_enabled_) {
+     698           0 :     models_.clear();
+     699           0 :     generateRepredictorModels(input_coeff_);
+     700             :   }
+     701         223 : }
+     702             : /*//}*/
+     703             : 
+     704             : /*//{ generateRepredictorModels() */
+     705           0 : void LatGeneric::generateRepredictorModels(const double input_coeff) {
+     706           0 :     for (int i = 0; (int)(i < lat_generic::n_states / 2); i++) {
+     707             : 
+     708           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     709           0 :         A_t A;
+     710             :         // clang-format off
+     711           0 :         A <<
+     712           0 :           1, 0, dt, 0, 0.5 * dt * dt, 0,
+     713           0 :           0, 1, 0, dt, 0, 0.5 * dt * dt,
+     714           0 :           0, 0, 1, 0, dt, 0,
+     715           0 :           0, 0, 0, 1, 0, dt,
+     716           0 :           0, 0, 0, 0, 1-(input_coeff * dt), 0,
+     717           0 :           0, 0, 0, 0, 0, 1-(input_coeff * dt);
+     718             :         // clang-format on
+     719           0 :         return A;
+     720           0 :       };
+     721             : 
+     722           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     723           0 :         B_t B = B.Zero();
+     724             :         // clang-format off
+     725           0 :           B <<
+     726           0 :             0, 0,
+     727           0 :             0, 0,
+     728           0 :             0, 0,
+     729           0 :             0, 0,
+     730           0 :             input_coeff * dt, 0,
+     731           0 :             0, input_coeff * dt;
+     732             :         // clang-format on
+     733             : 
+     734           0 :         return B;
+     735           0 :       };
+     736             : 
+     737           0 :       H_t H                = H.Zero();
+     738           0 :       H(AXIS_X, i * 2)     = 1;
+     739           0 :       H(AXIS_Y, i * 2 + 1) = 1;
+     740           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     741             :     }
+     742           0 : }
+     743             : /*//}*/
+     744             : 
+     745             : /*//{ generateA() */
+     746      195037 : void LatGeneric::generateA() {
+     747             : 
+     748             :   // clang-format off
+     749      195037 :     A_ <<
+     750      194989 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     751      195010 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     752      195016 :       0, 0, 1, 0, dt_, 0,
+     753      195029 :       0, 0, 0, 1, 0, dt_,
+     754      195034 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     755      195035 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     756             :   // clang-format on
+     757      195026 : }
+     758             : /*//}*/
+     759             : 
+     760             : /*//{ generateB() */
+     761      195041 : void LatGeneric::generateB() {
+     762             : 
+     763             :   // clang-format off
+     764      195041 :     B_ <<
+     765      195024 :       0, 0,
+     766      195001 :       0, 0,
+     767      195010 :       0, 0,
+     768      195023 :       0, 0,
+     769      195023 :       input_coeff_ * dt_, 0,
+     770      195030 :       0, input_coeff_ * dt_;
+     771             :   // clang-format on
+     772      195020 : }
+     773             : /*//}*/
+     774             : 
+     775             : /*//{ callbackReconfigure() */
+     776         115 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     777             : 
+     778         115 :   if (!isInitialized()) {
+     779         115 :     return;
+     780             :   }
+     781             : 
+     782           0 :   Q_t Q;
+     783           0 :   Q(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X))         = config.pos;
+     784           0 :   Q(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y))         = config.pos;
+     785           0 :   Q(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X))         = config.vel;
+     786           0 :   Q(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y))         = config.vel;
+     787           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = config.acc;
+     788           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = config.acc;
+     789           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     790             : }
+     791             : /*//}*/
+     792             : 
+     793             : /*//{ getNamespacedName() */
+     794         694 : std::string LatGeneric::getNamespacedName() const {
+     795        1388 :   return parent_state_est_name_ + "/" + getName();
+     796             : }
+     797             : /*//}*/
+     798             : 
+     799             : /*//{ getPrintName() */
+     800        1053 : std::string LatGeneric::getPrintName() const {
+     801        2106 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     802             : }
+     803             : /*//}*/
+     804             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3faff34772051873b669e5741ac9ddc8170c0df3 GIT binary patch literal 3153 zcmV-X46gHuP)_0;S;5*sS;5}G*?*N6>jy}HP|j}BK3%VuODPfv5I;H7{eGX*-}^kB zG48j3Z@!;`Ens|&1F1ZQF`h$ewZ_@9q|;}f5^v`220k9{(F`BnB|n%JOfL-8W_M8c5pV}FAI$(T3#;?-=&1;OZZ(E}Y zqjl;x6no%zdKj}Ey%mEsgLR#Ujne{_!=1yP1?hq?f}#%qnxt`LXM~v#6X)?8L$(K< zaJO`nz*}W!B%)znpZKVP0ZR-RBe)1ypDF~U9-;XyCU`HO$7u*Z2Svh6q zJ2q*UkCBlb6Fn8lu>i6o&LaVO0Ksp#%9;%T{)VX;oawCrz+s^vQUL}MoR0&5kJ#8k(Tdk}MW0$>Ho?hG%u<9y7<3A2@+Gco3JS&s#b1Q2vy07NuO%9tV~12JZ* z7iLQwvjDrRV4j-yDLB(?90B9&Ab7oeZd>w56u@vsY@2dGq&0@u0LYB7HNNKE>F>Ae zyw;N<(TU^?(_@NJM50VZxKfHgNo zK%X!QbGK7>0lk%&fVAClUjU5*O|8if*l^#ABb5Uw4VN)m*NDVyR>f?<>={T7ho&`b zuBH~*l%o$NB#h_FyHm>>1U9@jXpMdRoHa9#Hu~Txhj7oAZ&3yvjqayIpVa(K%g6NX zh-Wq&(TwuZxYf(_u%ujGts~7`4{WTiLD-bt3 z?3j%pmd+<4UCd*YHTEs8)l!(1taD1gG0b8{RcMoS#->^aAi?-Delo_6n@0e*UY25H zjb`b|Q}-;3-S+(Ng+dgFgt1JUY(1F%Cpt$j*ctOM%I%0eW`})F-|j*&w*+xpb}FQ) zF(5b~0$@H$cbS|Q;DN?K%qZ2b@3)Xv&=_7tm?5pnt&xCF;4X|g)?9qevDq?rJB$a|B7zxn8$HlnW?+~NY6V{jt zb;YwTbku;kVh9~HJjO6N7qYj2t{+6^G9cg+3P7b^*bb7q@b3er03`kOiCwTcv9N#E{Z?arkr1=dx)3f3HzT{98?+hF*9gGc1 z-^ybHsN_hE{P{Hux7!{=W-=K0G~F%okTS? zplNF;AA>B=Kxs#SreWXfDMkUM6=zNbu4zO2m{rMy7)aOd}r+sk8TOPmm!A z=3f|oz-bvc z%AWqr16nw=g$5}bO1hkG>`(98s|#Y12Z9P>dISFj5qq>{hc)Y@N`M#-WHA94S55KJ z*G%8i#SR?L0EZfU7-RVHkFp0*-HX`KHmlLcb!&89UFv5OL$XWVuCcq*pCx9B9d5U% zI!cl;q{EO*Q}HIv?(Wzx;3+REvO>-Q)Smw?FX=HwL*&)%K~j78wC;BPI5N5Z~rh7$Y4#sZvIdVgE?h zq@-R;!z{75+9D~#RWAh{=qfP-4A*;w0q_cw0ymK%;G5e55Izt}^Eg)~x=+XU&85`} zMg{%?oFya`;BGukMNkD}?`0jFrPz?%2P$E6U1Vni-N_h{t}%NJ z(S(;8zy|V$E38MR? zZk#{UFz_#Rg;F1(4ba~}j7|?Ed?AesbkuyD> zF?$biD@Ri9e2;HcI@6*pYdnUjVSt@FABtQ)yx)4co?Tbqn6o#Eu-7`HHWz<`&J0&c zQ{iJL0z|4Qnv~b&f~}}y)#=yP6_on*NOjKy_)&&`Nzv{H8wS>2vNM(3KK~aD1HZ1? z{1n*#;j%R9v`>$SD0gXRh!7g?2-dW1+Pk55_^Nds^230$f5#5%SKSsNxWyeU12941SHDX2!-`@kQ!z3}1C< zuQ(PMqtKm60ZELkb+C1>e@@Nf@O4c{TI?;Le1R?jN>mU)Q%18TMxk2R8*s$S&H&5z z!&6V*dU`5B_-X;wHGU0ySpHb|x}tgwg`zcxbmmK96$_|SotLM$*8o_8LGFs^Fd)0K z8t^@aYcZF?@QmYvH6Fw2bB*5daq1HwE+_+<$4Ir=>YH6q@+EIbPcbZyyoqP#0jRYM zX27H6O9ezflb#nn^u%3T{o0Iit>W-K8;lLKCh5$(_3Pw?FxLh@S-;LlQ0@zpObXZ% zz0iI6vp&VLv?t+{tP5Ahg}rv1hfQurYwWiYcI3J~L>^z?VIzotIyBMa z7InJW9du@ugyc#!iz1%Rq{Cg9L;z~kz3=y=SqcfK432e5CJW#v;%&D zJ7Z8T#yT?BA*;{l(n=bCX$!lH1B}Ml6_N!VL(2Cwa)7_)(Y%IJPU_|^RfBZMO|cng z+d_Hdi z;lYU=KnWKE$m3!F)0S-<>I!3FI}cd+D9;SFI7|1ef!$|FPZ8hP2f8Qei4eVZJiGK* z#3z?DOzinEVA13*#w=kfph + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions: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()22
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().222
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html new file mode 100644 index 0000000000..dcc415bee0 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()22
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().222
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cdfd029a0c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html new file mode 100644 index 0000000000..7bc0154e36 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions: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_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          22 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          22 :   }
+      16             : 
+      17          44 :   ~GpsBaro(void) {
+      18          44 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          22 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html new file mode 100644 index 0000000000..2b03dc176f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..32cb0dad19f40488be4eb0ccd03a6cbd7fc1ac32 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().289
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html new file mode 100644 index 0000000000..40953f346c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().289
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..716d11d216 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html new file mode 100644 index 0000000000..552e57d31c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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          89 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          89 :   }
+      16             : 
+      17         178 :   ~GpsGarmin(void) {
+      18         178 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          89 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html new file mode 100644 index 0000000000..88be0074b4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html new file mode 100644 index 0000000000..c748bae7d4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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 +
59.8%59.8%
+ 		59.8 %113 / 18950.0 %5 / 10
<unnamed>59.8 %113 / 18950.0 %5 / 10
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
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rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
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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
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html new file mode 100644 index 0000000000..11a1642011 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html @@ -0,0 +1,200 @@ + + + + + + + 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:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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 +
59.8%59.8%
+ 		59.8 %113 / 18950.0 %5 / 10
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state_generic.cpp +
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rtk.cpp +
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gps_garmin.cpp +
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gps_baro.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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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail.html b/mrs_uav_state_estimators/src/estimators/state/index-detail.html new file mode 100644 index 0000000000..e16bdacdac --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
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passthrough.cpp +
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state_generic.cpp +
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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 +
59.8%59.8%
+ 		59.8 %113 / 18950.0 %5 / 10
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
rtk.cpp +
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100.0%
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gps_garmin.cpp +
100.0%
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gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
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+ + + + +
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..8720258c9c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html @@ -0,0 +1,152 @@ + + + + + + + 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:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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 +
59.8%59.8%
+ 		59.8 %113 / 18950.0 %5 / 10
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
rtk.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index.html b/mrs_uav_state_estimators/src/estimators/state/index.html new file mode 100644 index 0000000000..04ce7ebd4b --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-10-08 22:31:24Functions:283873.7 %
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 +
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+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
passthrough.cpp +
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+ 		59.8 %113 / 18950.0 %5 / 10
rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %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..dd84ad3162 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + 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:11318959.8 %
Date:2024-10-08 22:31:24Functions:51050.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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&)0
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
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&)1
mrs_uav_state_estimators::passthrough::Passthrough::start()1
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckPassthroughOdomHz(ros::TimerEvent const&)5
mrs_uav_state_estimators::passthrough::Passthrough::callbackPassthroughOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)1509
+
+
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Generated by: LCOV version 1.14
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+ + + 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..81a2c780c8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html @@ -0,0 +1,120 @@ + + + + + + + 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:11318959.8 %
Date:2024-10-08 22:31:24Functions:51050.0 %
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::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&)1
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&)0
mrs_uav_state_estimators::passthrough::Passthrough::callbackPassthroughOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)1509
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckPassthroughOdomHz(ros::TimerEvent const&)5
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()1
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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/src/estimators/state/passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cf08741b5f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html new file mode 100644 index 0000000000..c8ce595324 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html @@ -0,0 +1,452 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + + + + + + + +
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:11318959.8 %
Date:2024-10-08 22:31:24Functions:51050.0 %
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           1 : void Passthrough::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           1 :   ch_ = ch;
+      17           1 :   ph_ = ph;
+      18             : 
+      19           2 :   ros::NodeHandle nh(parent_nh);
+      20             : 
+      21           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      22             : 
+      23             :   // | --------------- param loader initialization -------------- |
+      24             : 
+      25           1 :   if (is_core_plugin_) {
+      26             : 
+      27           1 :     ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      28           1 :     ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      29             :   }
+      30             : 
+      31           1 :   ph_->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      32             : 
+      33             :   // | --------------------- load parameters -------------------- |
+      34           1 :   ph_->param_loader->loadParam("max_flight_z", max_flight_z_);
+      35           1 :   ph_->param_loader->loadParam("message/topic", msg_topic_);
+      36           1 :   ph_->param_loader->loadParam("kickoff", kickoff_, false);
+      37           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      38             : 
+      39             :   // | --------------- subscribers initialization --------------- |
+      40           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      41           1 :   shopts.nh                 = nh;
+      42           1 :   shopts.node_name          = getPrintName();
+      43           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      44           1 :   shopts.threadsafe         = true;
+      45           1 :   shopts.autostart          = true;
+      46           1 :   shopts.queue_size         = 10;
+      47           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      48             : 
+      49           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Passthrough::callbackPassthroughOdom, this);
+      50             : 
+      51             :   // | ------------------ timers initialization ----------------- |
+      52           1 :   t_check_hz_last_                 = ros::WallTime::now();
+      53           1 :   prev_avg_hz_                     = 0;
+      54           1 :   timer_check_passthrough_odom_hz_ = nh.createTimer(ros::Rate(1.0), &Passthrough::timerCheckPassthroughOdomHz, this);
+      55             : 
+      56             :   // | ---------------- publishers initialization --------------- |
+      57           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      58           1 :   if (ch_->debug_topics.state) {
+      59           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.covariance) {
+      62           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      63           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      64             :   }
+      65           1 :   if (ch_->debug_topics.innovation) {
+      66           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      67             :   }
+      68           1 :   if (ch_->debug_topics.diag) {
+      69           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      70             :   }
+      71             : 
+      72             :   // | ------------------ initialize published messages ------------------ |
+      73           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      74           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      75             : 
+      76           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      77           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      78           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      79             : 
+      80           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      81           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      82           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      83             : 
+      84             :   // | ------------------ finish initialization ----------------- |
+      85             : 
+      86           1 :   if (changeState(INITIALIZED_STATE)) {
+      87           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      88             :   } else {
+      89           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      90             :   }
+      91           1 : }
+      92             : /*//}*/
+      93             : 
+      94             : /*//{ start() */
+      95           1 : bool Passthrough::start(void) {
+      96             : 
+      97             : 
+      98           1 :   if (isInState(READY_STATE)) {
+      99             : 
+     100             :     /* timer_update_.start(); */
+     101           1 :     changeState(STARTED_STATE);
+     102           1 :     return true;
+     103             : 
+     104             :   } else {
+     105           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     106           0 :     ros::Duration(1.0).sleep();
+     107             :   }
+     108           0 :   return false;
+     109             : 
+     110             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     111             :   return false;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ pause() */
+     116           0 : bool Passthrough::pause(void) {
+     117             : 
+     118           0 :   if (isInState(RUNNING_STATE)) {
+     119           0 :     changeState(STOPPED_STATE);
+     120           0 :     return true;
+     121             :   }
+     122           0 :   return false;
+     123             : }
+     124             : /*//}*/
+     125             : 
+     126             : /*//{ reset() */
+     127           0 : bool Passthrough::reset(void) {
+     128             : 
+     129           0 :   if (!isInitialized()) {
+     130           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     131           0 :     return false;
+     132             :   }
+     133             : 
+     134           0 :   changeState(STOPPED_STATE);
+     135             : 
+     136           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     137             : 
+     138           0 :   return true;
+     139             : }
+     140             : /*//}*/
+     141             : 
+     142             : /* timerCheckPassthroughOdomHz() //{*/
+     143           5 : void Passthrough::timerCheckPassthroughOdomHz([[maybe_unused]] const ros::TimerEvent &event) {
+     144             : 
+     145           5 :   if (!isInitialized()) {
+     146           0 :     return;
+     147             :   }
+     148             : 
+     149           5 :   if (isInState(INITIALIZED_STATE)) {
+     150             : 
+     151             :     // first wait for a message
+     152           5 :     if (!sh_passthrough_odom_.hasMsg()) {
+     153           0 :       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());
+     154           0 :       return;
+     155             :     }
+     156             : 
+     157             :     // calculate average rate of messages
+     158           5 :     if (counter_odom_msgs_ > 0) {
+     159           5 :       ros::WallTime t_now  = ros::WallTime::now();
+     160           5 :       double        dt     = (t_now - t_check_hz_last_).toSec();
+     161           5 :       double        avg_hz = counter_odom_msgs_ / dt;
+     162           5 :       t_check_hz_last_     = t_now;
+     163           5 :       counter_odom_msgs_   = 0;
+     164           5 :       ROS_INFO("[%s]: rate of passthrough odom: %.2f Hz", getPrintName().c_str(), avg_hz);
+     165             : 
+     166             :       // check message rate stability
+     167           5 :       if (abs(avg_hz - prev_avg_hz_) >= 5) {
+     168           2 :         ROS_INFO("[%s]: %s stable passthrough odometry rate. now: %.2f Hz prev: %.2f Hz", getPrintName().c_str(), Support::waiting_for_string.c_str(), avg_hz,
+     169             :                  prev_avg_hz_);
+     170           2 :         prev_avg_hz_ = avg_hz;
+     171           4 :         return;
+     172             :       }
+     173             : 
+     174             :       // the message rate must be higher than required by the control manager
+     175           3 :       if (!kickoff_ && avg_hz < ch_->desired_uav_state_rate) {
+     176           2 :         ROS_ERROR(
+     177             :             "[%s]: rate of passthrough odom: %.2f Hz is lower than desired uav_state rate: %.2f Hz. Flight not allowed. Provide higher passthrough odometry rate "
+     178             :             "or use a higher-level controller.",
+     179             :             getPrintName().c_str(), avg_hz, ch_->desired_uav_state_rate);
+     180             :         // note: might run the publishing asynchronously on the desired rate in this case to still be able to fly
+     181             :         // the states would then be interpolated by ZOH (bleeh)
+     182             :         /* timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this); */
+     183           2 :         return;
+     184             :       }
+     185             :     }
+     186             : 
+     187           1 :     changeState(READY_STATE);
+     188           1 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     189           1 :     timer_check_passthrough_odom_hz_.stop();
+     190             :   }
+     191             : }
+     192             : /*//}*/
+     193             : 
+     194             : /* timerUpdate() //{*/
+     195           0 : void Passthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     196             : 
+     197             : 
+     198           0 :   if (isInState(STARTED_STATE)) {
+     199             : 
+     200           0 :     changeState(RUNNING_STATE);
+     201             :   }
+     202             : 
+     203           0 :   const ros::Time time_now = ros::Time::now();
+     204             : 
+     205           0 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     206             : 
+     207           0 :   if (first_iter_) {
+     208           0 :     prev_msg_   = msg;
+     209           0 :     first_iter_ = false;
+     210             :   }
+     211             : 
+     212           0 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     213             : 
+     214           0 :   uav_state.header.stamp = time_now;
+     215             : 
+     216           0 :   uav_state.pose.position    = msg->pose.pose.position;
+     217           0 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     218             : 
+     219           0 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     220           0 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     221             : 
+     222           0 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     223             : 
+     224           0 :   nav_msgs::Odometry innovation = innovation_init_;
+     225           0 :   innovation.header.stamp       = time_now;
+     226             : 
+     227           0 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     228           0 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     229           0 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     230             : 
+     231           0 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     232           0 :   pose_covariance.header.stamp  = time_now;
+     233           0 :   twist_covariance.header.stamp = time_now;
+     234             : 
+     235           0 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     236           0 :   pose_covariance.values.resize(n_states * n_states);
+     237           0 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     238           0 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     239           0 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     240             : 
+     241           0 :   twist_covariance.values.resize(n_states * n_states);
+     242           0 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     243           0 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     244           0 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     245             : 
+     246           0 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     247           0 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     248           0 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     249           0 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     250           0 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     251             : 
+     252           0 :   publishUavState();
+     253           0 :   publishOdom();
+     254           0 :   publishCovariance();
+     255           0 :   publishInnovation();
+     256           0 :   publishDiagnostics();
+     257             : 
+     258           0 :   prev_msg_ = msg;
+     259           0 : }
+     260             : /*//}*/
+     261             : 
+     262             : /*//{ callbackPassthroughOdom() */
+     263        1509 : void Passthrough::callbackPassthroughOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     264             : 
+     265        1509 :   counter_odom_msgs_++;
+     266             : 
+     267        1509 :   if (!isInitialized()) {
+     268           0 :     return;
+     269             :   }
+     270             : 
+     271        1509 :   if (isInState(STARTED_STATE)) {
+     272             : 
+     273           1 :     changeState(RUNNING_STATE);
+     274             :   }
+     275             : 
+     276        1509 :   if (first_iter_) {
+     277           1 :     prev_msg_   = msg;
+     278           1 :     first_iter_ = false;
+     279             :   }
+     280             : 
+     281        3018 :   nav_msgs::Odometry odom = *msg;
+     282             : 
+     283             :   // change the frame_ids
+     284        1509 :   odom.header.frame_id = ns_frame_id_;
+     285        1509 :   odom.child_frame_id  = ch_->frames.ns_fcu;
+     286             : 
+     287        3018 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     288             : 
+     289             :   // here we are assuming the passthrough odometry has correct timestamp
+     290        1509 :   uav_state.header.stamp = odom.header.stamp;
+     291             :   /* const ros::Time time_now = ros::Time::now(); */
+     292             :   /* uav_state.header.stamp = time_now; */
+     293             : 
+     294        1509 :   uav_state.pose.position    = odom.pose.pose.position;
+     295        1509 :   uav_state.pose.orientation = odom.pose.pose.orientation;
+     296        1509 :   uav_state.velocity.angular = odom.twist.twist.angular;
+     297             : 
+     298             :   // uav_state has velocities in the parent frame
+     299        1509 :   uav_state.velocity.linear = Support::rotateVector(odom.twist.twist.linear, odom.pose.pose.orientation);
+     300             : 
+     301             : 
+     302        3018 :   nav_msgs::Odometry innovation = innovation_init_;
+     303        1509 :   innovation.header.stamp       = odom.header.stamp;
+     304             : 
+     305        1509 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     306        1509 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     307        1509 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     308             : 
+     309        3018 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     310        1509 :   pose_covariance.header.stamp  = odom.header.stamp;
+     311        1509 :   twist_covariance.header.stamp = odom.header.stamp;
+     312             : 
+     313        1509 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     314        1509 :   pose_covariance.values.resize(n_states * n_states);
+     315        1509 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     316        1509 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     317        1509 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     318             : 
+     319        1509 :   twist_covariance.values.resize(n_states * n_states);
+     320        1509 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     321        1509 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     322        1509 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     323             : 
+     324        1509 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     325        1509 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     326        1509 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     327        1509 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     328        1509 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     329             : 
+     330        1509 :   publishUavState();
+     331        1509 :   publishOdom();
+     332        1509 :   publishCovariance();
+     333        1509 :   publishInnovation();
+     334        1509 :   publishDiagnostics();
+     335             : 
+     336        1509 :   prev_msg_ = msg;
+     337             : }
+     338             : /*//}*/
+     339             : 
+     340             : /*//{ isConverged() */
+     341           0 : bool Passthrough::isConverged() {
+     342             : 
+     343             :   // TODO: check convergence by rate of change of determinant
+     344             :   // most likely not used in top-level estimator
+     345             : 
+     346           0 :   return true;
+     347             : }
+     348             : /*//}*/
+     349             : 
+     350             : /*//{ setUavState() */
+     351           0 : bool Passthrough::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     352             : 
+     353           0 :   if (!isInState(STOPPED_STATE)) {
+     354           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     355           0 :     return false;
+     356             :   }
+     357             : 
+     358           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     359           0 :   return false;
+     360             : }
+     361             : /*//}*/
+     362             : 
+     363             : }  // namespace passthrough
+     364             : 
+     365             : }  // namespace mrs_uav_state_estimators
+     366             : 
+     367             : #include <pluginlib/class_list_macros.h>
+     368           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html new file mode 100644 index 0000000000..6ad5851c84 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html @@ -0,0 +1,112 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.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 + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..cd50a1d747b6237fc8b9f408a248fd4e7df2c742 GIT binary patch literal 1603 zcmV-J2E6%+P) zRA_RoED@5Y(YD~{#&^U1VSJXP`};1oIP{q@lW1B64>cC|9-#a`kCGu z7d=aq9sLxS*MvhdE)tnu=Zsi4Xn(-kxn*gx-Zr)6L&0PCa9V|9S~smX{VGt-+70dh zzD7~0@Yg-1V#_IBu7N2t+kZ=ZWnI=C3~Tg~sw*Sb8Vtz~tzA$^fdW4}^T@R>kKm&2 zz(t<1?pUx}uxA+7z!lk%F$uwyff^ok21Gi>r__c0TF*%wHnmoiDV8w^%}?=2(F48S z6`=iG$LB0idx{M2oOKhZrOH^MNJgSo|7x~vX+%>uj79j8ySm_O_$n5lAY*(-siK7n z(L+@778_C~nW^Q#P|xO6XM7t^rp>DI-Q{Iztzza+JrEE93|957v9SqotY;0>wCI{DZlE z4m3}@=ZtXGTPGSNyurnj&^kd-<8IO=MW{iRxwT!&Y*CkcCv^=2*9WG$C*am!zG zWbt@FI3C8mE^Ki(l8r}k;O;KuoA60S@7_LQJ#qPE{-q5Qyi9mZ(>&s((xjk{=;rFAs9Gobx3odNg^MhAH+^CG{9DLrBXa9=t+=B(Tv3VJ5D*fDDE5!!JZSatLYoq%x7V28)N5rY_Yj z(~5;uQ1j?8`Mu;i$XF^v8H$SOWv0Mpsd58fu4kMbgBj-~8gyR#UT$r>f*qZ4NM|Y< zG-@qSX7y!&#wSAB+1V|)*Dr|aSCp9Ia{Ay(g&fYIF!A9td-dZvNl<%UkbRb4unz)J zLxNm0*>=MC#Mf`1@1<27FGUJep=Y4{Bo9Ht9ORTJN;{f=vP_v9xde=Kf5KbX5uct% zPq`-@9rcWm_50OuhcYp1MNQu)$`FUpPO=F=IYnq`wSc>0U>cb-7~FQ6>%b4Ik0UWT zWi)1RM~(xIP&9kuK*IvFGlR#h`C}4uR#^{g9qYEEbPQpJm9gSQiiQQc&rAU{%Gy(< z+W0rV01nC+=+RY(0xRYzN%Yi?1{Ozi*s|z;b%ZM4uQi!@+*fk`1>g;{q9*In7r+j! zv*F#_0$P|={6OuUFMtn}aeg^dh4KjZ%^V5Eq{CHFrV!<(0gUs^3~4O{_So@#V0EAE z)Y`Q6|DL{COSS+M4^lVr4PB;hM(e|_zL}u(So@BA|G7?FwJ{{rT6`Aw!R0yVwTNWY z_gS(?8QXWL13$b8s4V~Io|#-jq1Lvdthd4q1_E0ZT5g*u5`#!nSD)jVY z2hcC>#d}hv>+S_$IM+xvfG>a@T4%!>vjwy;t2jPf`2zSr8Q<$q70M$#yF$)WLo(uVN9)Bj5|3@o- zPBw=FUzEZOjep`k#h_mE%OpjP+y^)P=uq?M + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions:44100.0 %
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mrs_uav_state_estimators::rtk::Rtk::Rtk()2
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mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
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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 - rtk.cpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:44100.0 %
Legend: Lines: + hit + not hit +
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mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5de9a9f3df --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html new file mode 100644 index 0000000000..7d03fe5b90 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions: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 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
+
+ + + 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 + + +
+ Top

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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/rtk_garmin.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html new file mode 100644 index 0000000000..94ef63a832 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-10-08 22:31:24Functions:44100.0 %
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mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html new file mode 100644 index 0000000000..1827ae0a4b --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
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Date:2024-10-08 22:31:24Functions:44100.0 %
Legend: Lines: + hit + not hit +
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mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
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Date:2024-10-08 22:31:24Functions: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 rtk_garmin
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk_garmin";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class RtkGarmin : public StateGeneric {
+      13             : public:
+      14           2 :   RtkGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~RtkGarmin(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk_garmin::RtkGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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:19529665.9 %
Date:2024-10-08 22:31:24Functions:71258.3 %
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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&)115
mrs_uav_state_estimators::StateGeneric::start()7977
mrs_uav_state_estimators::StateGeneric::updateUavState()206452
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)217902
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)217903
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()() const331348
mrs_uav_state_estimators::StateGeneric::getHeading() const331351
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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:19529665.9 %
Date:2024-10-08 22:31:24Functions:71258.3 %
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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&)115
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&)217902
mrs_uav_state_estimators::StateGeneric::updateUavState()206452
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)217903
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()7977
mrs_uav_state_estimators::StateGeneric::getHeading() const331351
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()() const331348
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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:19529665.9 %
Date:2024-10-08 22:31:24Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
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+
          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         115 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13         115 :   ch_ = ch;
+      14         115 :   ph_ = ph;
+      15             : 
+      16         230 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18         115 :   if (is_core_plugin_) {
+      19             : 
+      20         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26         115 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27         115 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28         115 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29         115 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31         115 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32         115 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         230 :   std::string topic_orientation;
+      37         115 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38         115 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         230 :   std::string topic_angular_velocity;
+      40         115 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41         115 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43         115 :   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         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51         115 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerUpdate, this);
+      52             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerCheckHealth, this); */
+      53         115 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57         115 :   shopts.nh                 = nh;
+      58         115 :   shopts.node_name          = getPrintName();
+      59         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60         115 :   shopts.threadsafe         = true;
+      61         115 :   shopts.autostart          = true;
+      62         115 :   shopts.queue_size         = 10;
+      63         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65         115 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66         115 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69         115 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70         115 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72         115 :   if (ch_->debug_topics.state) {
+      73         115 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75         115 :   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         115 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82         115 :   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         230 :   std::vector<double> max_altitudes;
+      88             : 
+      89         115 :   if (is_hdg_passthrough_) {
+      90         115 :     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         115 :   est_hdg_->initialize(nh, ch_, ph_);
+      95         115 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      331463 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98         115 :   est_lat_->initialize(nh, ch_, ph_);
+      99         115 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101         115 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102         115 :   est_alt_->initialize(nh, ch_, ph_);
+     103         115 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105         115 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108         115 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109         115 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111         115 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112         115 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113         115 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115         115 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116         115 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117         115 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121         115 :   if (changeState(INITIALIZED_STATE)) {
+     122         115 :     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         115 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        7977 : bool StateGeneric::start(void) {
+     131             : 
+     132        7977 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        7977 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        4091 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        3886 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        7977 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        2980 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        4997 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        7977 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        7789 :       timer_pub_attitude_.start();
+     150        7789 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         188 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        7977 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157         115 :       changeState(STARTED_STATE);
+     158         115 :       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        7862 :   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 :   changeState(STOPPED_STATE);
+     197           0 :   est_lat_->reset();
+     198           0 :   est_alt_->reset();
+     199           0 :   est_hdg_->reset();
+     200           0 :   changeState(INITIALIZED_STATE);
+     201             : 
+     202           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     203             : 
+     204           0 :   return true;
+     205             : }
+     206             : /*//}*/
+     207             : 
+     208             : /* timerUpdate() //{*/
+     209      217902 : void StateGeneric::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     210             : 
+     211             : 
+     212      217902 :   if (!isInitialized()) {
+     213       11450 :     return;
+     214             :   }
+     215             : 
+     216      434162 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     217             : 
+     218      217081 :   switch (getCurrentSmState()) {
+     219             : 
+     220           0 :     case UNINITIALIZED_STATE: {
+     221           0 :       break;
+     222             :     }
+     223        2656 :     case INITIALIZED_STATE: {
+     224             : 
+     225        2656 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     226         115 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     227         115 :           changeState(READY_STATE);
+     228         115 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     229             :         } else {
+     230           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     231           0 :           return;
+     232             :         }
+     233             :       } else {
+     234        2541 :         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());
+     235        2541 :         return;
+     236             :       }
+     237             : 
+     238         115 :       break;
+     239             :     }
+     240             : 
+     241        7932 :     case READY_STATE: {
+     242        7932 :       break;
+     243             :     }
+     244             : 
+     245         156 :     case STARTED_STATE: {
+     246             : 
+     247         156 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     248             : 
+     249         156 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     250           0 :         changeState(ERROR_STATE);
+     251             :       }
+     252             : 
+     253         156 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     254         115 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     255         115 :         changeState(RUNNING_STATE);
+     256             :       } else {
+     257          41 :         return;
+     258             :       }
+     259         115 :       break;
+     260             :     }
+     261             : 
+     262      206336 :     case RUNNING_STATE: {
+     263      206336 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     264           0 :         changeState(ERROR_STATE);
+     265             :       }
+     266      206337 :       break;
+     267             :     }
+     268             : 
+     269           0 :     case STOPPED_STATE: {
+     270           0 :       break;
+     271             :     }
+     272             : 
+     273           0 :     case ERROR_STATE: {
+     274           0 :       if ((est_lat_->isReady() || est_lat_->isRunning()) && (est_alt_->isReady() || est_alt_->isRunning()) && (est_hdg_->isReady() || est_hdg_->isRunning())) {
+     275           0 :         changeState(READY_STATE);
+     276             :       }
+     277           0 :       break;
+     278             :     }
+     279             :   }
+     280             : 
+     281      214500 :   if (!isRunning() && !isStarted()) {
+     282        8047 :     return;
+     283             :   }
+     284             : 
+     285      206451 :   updateUavState();
+     286             : 
+     287      206451 :   publishUavState();
+     288      206452 :   publishOdom();
+     289      206452 :   publishCovariance();
+     290      206452 :   publishInnovation();
+     291      206452 :   publishDiagnostics();
+     292             : }
+     293             : /*//}*/
+     294             : 
+     295             : /*//{ timerCheckHealth() */
+     296           0 : void StateGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     297             : 
+     298           0 :   if (!isInitialized()) {
+     299           0 :     return;
+     300             :   }
+     301             : 
+     302           0 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     303             : 
+     304           0 :   switch (getCurrentSmState()) {
+     305             : 
+     306           0 :     case UNINITIALIZED_STATE: {
+     307           0 :       break;
+     308             :     }
+     309           0 :     case INITIALIZED_STATE: {
+     310             : 
+     311           0 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     312           0 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     313           0 :           changeState(READY_STATE);
+     314           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     315             :         } else {
+     316           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     317           0 :           return;
+     318             :         }
+     319             :       } else {
+     320           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());
+     321           0 :         return;
+     322             :       }
+     323             : 
+     324           0 :       break;
+     325             :     }
+     326             : 
+     327           0 :     case READY_STATE: {
+     328           0 :       break;
+     329             :     }
+     330             : 
+     331           0 :     case STARTED_STATE: {
+     332             : 
+     333           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     334             : 
+     335           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     336           0 :         changeState(ERROR_STATE);
+     337             :       }
+     338             : 
+     339           0 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     340           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     341           0 :         changeState(RUNNING_STATE);
+     342             :       } else {
+     343           0 :         return;
+     344             :       }
+     345           0 :       break;
+     346             :     }
+     347             : 
+     348           0 :     case RUNNING_STATE: {
+     349           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     350           0 :         changeState(ERROR_STATE);
+     351             :       }
+     352           0 :       break;
+     353             :     }
+     354             : 
+     355           0 :     case STOPPED_STATE: {
+     356           0 :       break;
+     357             :     }
+     358             : 
+     359           0 :     case ERROR_STATE: {
+     360           0 :       if (est_lat_->isReady() && est_alt_->isReady() && est_hdg_->isReady()) {
+     361           0 :         changeState(READY_STATE);
+     362             :       }
+     363           0 :       break;
+     364             :     }
+     365             :   }
+     366             : }
+     367             : /*//}*/
+     368             : 
+     369             : /* timerPubAttitude() //{*/
+     370      217903 : void StateGeneric::timerPubAttitude([[maybe_unused]] const ros::TimerEvent &event) {
+     371             : 
+     372      217903 :   if (!isInitialized()) {
+     373        3698 :     return;
+     374             :   }
+     375             : 
+     376      434165 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     377             : 
+     378      217083 :   if (!sh_hw_api_orient_.hasMsg()) {
+     379        1377 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation on topic %s yet", getPrintName().c_str(), sh_hw_api_orient_.topicName().c_str());
+     380        1377 :     return;
+     381             :   }
+     382             : 
+     383      215705 :   if (!est_hdg_->isRunning() && !isError()) {
+     384        1501 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     385        1501 :     return;
+     386             :   }
+     387             : 
+     388      214203 :   scope_timer.checkpoint("checks");
+     389             : 
+     390      214204 :   const ros::Time time_now = ros::Time::now();
+     391             : 
+     392      214205 :   geometry_msgs::QuaternionStamped att;
+     393      214205 :   att.header.stamp    = time_now;
+     394      214205 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     395             : 
+     396             :   double hdg;
+     397      214205 :   if (isError()) {
+     398           0 :     hdg = est_hdg_->getLastValidHdg();
+     399             :   } else {
+     400      214205 :     hdg = est_hdg_->getState(POSITION);
+     401             :   }
+     402             : 
+     403      214204 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     404      214202 :   if (res) {
+     405      214204 :     att.quaternion = res.value();
+     406             :   } else {
+     407           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     408           0 :     return;
+     409             :   }
+     410             : 
+     411      214203 :   scope_timer.checkpoint("rotate");
+     412             : 
+     413      214205 :   if (!Support::noNans(att.quaternion)) {
+     414           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaNs in timerPubAttitude quaternion", getPrintName().c_str());
+     415           0 :     return;
+     416             :   }
+     417             : 
+     418      214203 :   scope_timer.checkpoint("nan check");
+     419             : 
+     420      214202 :   ph_attitude_.publish(att);
+     421      214205 :   scope_timer.checkpoint("publish");
+     422             : }
+     423             : /*//}*/
+     424             : 
+     425             : /*//{ isConverged() */
+     426           0 : bool StateGeneric::isConverged() {
+     427             : 
+     428             :   // TODO: check convergence by rate of change of determinant
+     429             :   // most likely not used in top-level estimator
+     430             : 
+     431           0 :   return true;
+     432             : }
+     433             : /*//}*/
+     434             : 
+     435             : /*//{ updateUavState() */
+     436      206452 : void StateGeneric::updateUavState() {
+     437             : 
+     438      206452 :   if (!sh_hw_api_orient_.hasMsg()) {
+     439           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());
+     440           0 :     return;
+     441             :   }
+     442             : 
+     443      206452 :   if (!sh_hw_api_ang_vel_.hasMsg()) {
+     444           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());
+     445           0 :     return;
+     446             :   }
+     447      412902 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     448             : 
+     449      206452 :   const ros::Time time_now = ros::Time::now();
+     450             : 
+     451      206452 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     452      206452 :   uav_state.header.stamp       = time_now;
+     453             : 
+     454             :   // do not rotate orientation if passthrough hdg
+     455      206452 :   if (est_hdg_name_ == "hdg_passthrough") {
+     456           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     457             :   } else {
+     458             :     double hdg;
+     459      206452 :     if (isError()) {
+     460           0 :       hdg = est_hdg_->getLastValidHdg();
+     461             :     } else {
+     462      206452 :       hdg = est_hdg_->getState(POSITION);
+     463             :     }
+     464             : 
+     465      206451 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     466      206449 :     if (res) {
+     467      206451 :       uav_state.pose.orientation = res.value();
+     468             :     } else {
+     469           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     470           0 :       return;
+     471             :     }
+     472             :   }
+     473             : 
+     474      206448 :   scope_timer.checkpoint("rotate orientation");
+     475             : 
+     476      206450 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     477             : 
+     478      206449 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     479      206452 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     480      206452 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     481             : 
+     482      206448 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     483      206450 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     484      206450 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     485             : 
+     486      206451 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     487      206452 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     488      206451 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     489             : 
+     490      206450 :   scope_timer.checkpoint("fill uav state");
+     491             : 
+     492      412900 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     493      206451 :   scope_timer.checkpoint("uav state to odom");
+     494             : 
+     495      412896 :   nav_msgs::Odometry innovation = innovation_init_;
+     496      206452 :   innovation.header.stamp       = time_now;
+     497             : 
+     498      206452 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     499      206448 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     500      206448 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     501             : 
+     502      206446 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     503             : 
+     504      206450 :   scope_timer.checkpoint("innovation");
+     505             : 
+     506      412900 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     507      206445 :   pose_covariance.header.stamp  = time_now;
+     508      206445 :   twist_covariance.header.stamp = time_now;
+     509             : 
+     510      206445 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     511      206445 :   pose_covariance.values.resize(n_states * n_states);
+     512      206446 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     513      206443 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     514      206450 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     515             : 
+     516      206445 :   twist_covariance.values.resize(n_states * n_states);
+     517      206449 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     518      206450 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     519      206449 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     520             : 
+     521      206447 :   scope_timer.checkpoint("covariance");
+     522             : 
+     523      206450 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     524      206451 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     525      206446 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     526      206447 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     527      206445 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     528             : }
+     529             : /*//}*/
+     530             : 
+     531             : /*//{ getHeading() */
+     532      331351 : std::optional<double> StateGeneric::getHeading() const {
+     533      331351 :   if (!est_hdg_->isRunning()) {
+     534         227 :     return {};
+     535             :   }
+     536      331132 :   return est_hdg_->getState(POSITION);
+     537             : }
+     538             : /*//}*/
+     539             : 
+     540             : /*//{ setUavState() */
+     541           0 : bool StateGeneric::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     542             : 
+     543           0 :   if (!isInState(STOPPED_STATE)) {
+     544           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     545           0 :     return false;
+     546             :   }
+     547             : 
+     548           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     549           0 :   return false;
+     550             : }
+     551             : /*//}*/
+     552             : 
+     553             : }  // namespace mrs_uav_state_estimators
+     554             : 
+
+
+
+ + + + +
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..f3994aa7b8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html @@ -0,0 +1,159 @@ + + + + + + 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 + overview + + +
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+ + 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..e4377eb09d8abf24fdb6942c48ffac3b4297badc GIT binary patch literal 1972 zcmV;l2TS;gP)RX!#_;9zBJ-wboFx9z0)lY|Hk&&Tum9N+(j ztHvAOj#M7a7{|+)BRq}>OP5m~oNnIKE4b%b&FRqos{JR!1dd^vwVw5*fH-N&{yblS zF{npf#N#yAhEi7HC?KH2oiscI%A2_~{h-}4St;D#DxjyWFT*&W^l*Uoj*(3+*@1>- zc@@TLugkIw%XS4utE~^Swo83{S4V(v|5Pe@>ENb>^ejXJ$ktBb1lQrMvE%Af0f130 zn9yuL=54h#ym!~_0|HnvVJ};!Hi^}atLL3)LKYs6lpM0&IC9cFeq>C^6t1$mPi$RA zdPHP(OjmIp%M3R07zHUY(S({po-x{yMr(>BK58L`lN7faBPTnS3(J6L zd~D}YrfWVSEzo78*Hsp|i8MZ%Je+umR4kly+(Lov99Nt&$}=@=;ig!rbA=0r-alQN z-HdT0M$$q#qa#3EkFs`xZuVUGkH;#HQg~#QJ&G|dklgHgu-3pMQ&WW6wI=lx)!(P3 zX0oa*#sqEx0ks5pn#b)^kFx}*DIkH(d(Rv24-~@<1$#VS@+stK7U*!{E34T9w#7#u z2G`fVo-rgmHYX&oq?m@-OJs$^8E!WM(0-ipN(vMPt^i<+n>eiXDZFWLGsdK5Zz#hX zkI`(&mjJ^A`dJPmnYSDxs-AyRcaU1_4E>+g^QNuy?{*%UB0*sa%jO+W(q31ohtU=x z)sbWc{23O*dA_zSY<**Tq$oj*E6q=D~AOWzR6&B1ko9|-9 zLQZJ4i>uQ{rK~-!$BUaTmNI~`%PP)kp%|m4@8Gc-NU;&EG}SS;6y3?y6!zF`rBjv8 zZ)N8US^+>&s?E)$j)sb*&IAgw+bs`Rj6G0Cqr)tme#3F^@}3*jLlS#!^>KA#Kfz;> zMav^uo*7z(8@@ui+JwvX>bZQMZSZgJ(9+I=ZzzTkNU9i!OzW0v zU#Pm1qM>x%^Rju}*>veKT@$Nh6H`t-N2x;2(teM6v<(Fxs)r63PzL^rj%ID&SKQH* z!b`(0yRGJWgp<3Y{k4~9Gv~vd&Um<8pZ0QI>YvzJbo82wt>&~Mm2YW)ZU)z8>B8Qf zp{Lysb9Vq}Kku3fV|=(bYX@PvY=7!jaw&$hc-(FBC%Lj1QPRT}6pr&*K0>53F4$U^ z*HrQ5;_RVPXF{-&g3G-LEcf<>I8yEnU^mR(V@JxpZd(xQ<(^XywnKw`Q!4uKLo5qe z?m58v$ zEcq(|EuW`(RMc!7umPhc_%b<@J+&x&=(EFTq=~)=>7-c@aU=C0uC%pX<6H?ipXM={ z2G>1}OgdJ54rAaeE|p@yf(dhK{M^G`1-Atc`)mcWM_L!2n3j7`R0ePZ(|V3f)dTRP zWr#B88sHAL3r^Eh55NzExz=&FK_132%Ybf6ai#*u@JO!Y=}!{iOy-TQ0MdtFd`0J@ zyt>}j*D32xVpdhQJUC$gI$&%3p-xE`AP@Kr3U6&S9R>NZ8ggw#Y{chXOU)}%{U6WJ zFkwrF`~8OVg?5jXYq5mAS0?=D0J3;%mus|(dFY|L(D)B1DOM|PNwhHl0000~v> 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..73864d045b --- /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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Test:MRS UAV System - Test coverage reportLines:6614246.5 %
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Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-10-08 22:31:24Functions:71838.9 %
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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:6614246.5 %
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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&)6
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()20
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
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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:6614246.5 %
Date:2024-10-08 22:31:24Functions:71838.9 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()20
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>)108
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&)380
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)6
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&)139435
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:6614246.5 %
Date:2024-10-08 22:31:24Functions:71838.9 %
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 <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         108 : 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         108 :   this->common_handlers_  = common_handlers;
+     136         108 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138         108 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140         108 :   nh_ = nh;
+     141             : 
+     142         108 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         108 :   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         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         216 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184         108 :   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         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196         108 :   shopts.nh              = nh_;
+     197         108 :   shopts.node_name       = "JoyTracker";
+     198         108 :   shopts.queue_size      = 1;
+     199         108 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201         108 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205         108 :   last_update = ros::Time(0);
+     206             : 
+     207         108 :   is_initialized_ = true;
+     208             : 
+     209         108 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211         108 :   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          20 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          20 :   is_active_ = false;
+     279             : 
+     280          20 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          20 : }
+     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      139435 : 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      418305 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      418305 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303      139435 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305      139435 :     uav_state_ = uav_state;
+     306             : 
+     307      139435 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310      139435 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312      139435 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315      139435 :   if (!is_active_) {
+     316      139435 :     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         309 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         618 :   std_srvs::SetBoolResponse res;
+     390         618 :   std::stringstream         ss;
+     391             : 
+     392         309 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          19 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         309 :   res.message = ss.str();
+     406         309 :   res.success = true;
+     407             : 
+     408         618 :   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         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         380 :   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           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           6 :   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         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
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Test:MRS UAV System - Test coverage reportLines:44160173.4 %
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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:44160173.4 %
Date:2024-10-08 22:31:24Functions: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::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)20
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)45
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()61
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)146
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)179
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)219
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()674
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()674
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2239
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4573
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()15839
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20412
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23381
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
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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..d04403529f --- /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 + + + + + + + + + + + + + + +
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:44160173.4 %
Date:2024-10-08 22:31:24Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()61
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>)108
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)146
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> >&)5
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> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20412
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)20
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()15839
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4573
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()674
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)219
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()674
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)179
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
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&)139435
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)45
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2239
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23381
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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:44160173.4 %
Date:2024-10-08 22:31:24Functions:213167.7 %
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_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 std::array<const char*, 7> state_names = {
+      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             :   std::atomic<bool> activate_as_the_first_tracker = false;
+     107             : 
+     108             :   // | ------------------------ uav state ----------------------- |
+     109             : 
+     110             :   mrs_msgs::UavState uav_state_;
+     111             :   bool               got_uav_state_ = false;
+     112             :   std::mutex         mutex_uav_state_;
+     113             : 
+     114             :   // | ---------------- the tracker's inner state --------------- |
+     115             : 
+     116             :   int    _main_timer_rate_;
+     117             :   double _landing_reference_;
+     118             :   double _tracker_dt_;
+     119             :   bool   is_initialized_ = false;
+     120             :   bool   is_active_      = false;
+     121             : 
+     122             :   bool   _takeoff_disable_lateral_gains_ = false;
+     123             :   double _takeoff_disable_lateral_gains_z_;
+     124             : 
+     125             :   // | --------------- the tracker's state machine -------------- |
+     126             : 
+     127             :   States_t current_state_vertical_    = IDLE_STATE;
+     128             :   States_t previous_state_vertical_   = IDLE_STATE;
+     129             :   States_t current_state_horizontal_  = IDLE_STATE;
+     130             :   States_t previous_state_horizontal_ = IDLE_STATE;
+     131             : 
+     132             :   void changeStateHorizontal(States_t new_state);
+     133             :   void changeStateVertical(States_t new_state);
+     134             :   void changeState(States_t new_state);
+     135             : 
+     136             :   std::atomic<bool> taking_off_ = false;
+     137             :   std::atomic<bool> landing_    = false;
+     138             :   std::atomic<bool> elanding_   = false;
+     139             : 
+     140             :   std::atomic<bool> cause_failsafe_ = false;
+     141             : 
+     142             :   void stopHorizontalMotion(void);
+     143             :   void stopVerticalMotion(void);
+     144             :   void accelerateVertical(void);
+     145             :   void decelerateVertical(void);
+     146             :   void stopHorizontal(void);
+     147             :   void stopVertical(void);
+     148             : 
+     149             :   // | --------------- takeoff / landing services --------------- |
+     150             : 
+     151             :   ros::ServiceServer service_takeoff_;
+     152             :   ros::ServiceServer service_land_;
+     153             :   ros::ServiceServer service_eland_;
+     154             : 
+     155             :   bool callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     156             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     157             :   bool callbackELand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     158             : 
+     159             :   // | ------------------ dynamics constraints ------------------ |
+     160             : 
+     161             :   double _horizontal_speed_;
+     162             :   double _vertical_speed_;
+     163             :   double _takeoff_speed_;
+     164             :   double _landing_speed_;
+     165             :   double _elanding_speed_;
+     166             : 
+     167             :   double _horizontal_acceleration_;
+     168             :   double _vertical_acceleration_;
+     169             :   double _takeoff_acceleration_;
+     170             :   double _landing_acceleration_;
+     171             :   double _elanding_acceleration_;
+     172             : 
+     173             :   double _heading_rate_;
+     174             :   double _heading_gain_;
+     175             : 
+     176             :   double _max_position_difference_;
+     177             : 
+     178             :   // | -------------------------- goal -------------------------- |
+     179             : 
+     180             :   double            goal_x_, goal_y_, goal_z_, goal_heading_;
+     181             :   std::atomic<bool> have_goal_ = false;
+     182             :   std::mutex        mutex_goal_;
+     183             : 
+     184             :   // | ---------------- tracker's internal state ---------------- |
+     185             : 
+     186             :   double     state_x_, state_y_, state_z_, state_heading_;
+     187             :   double     speed_x_, speed_y_, speed_heading_;
+     188             :   double     current_heading_, current_vertical_direction_, current_vertical_speed_, current_horizontal_speed_;
+     189             :   double     current_horizontal_acceleration_, current_vertical_acceleration_;
+     190             :   std::mutex mutex_state_;
+     191             : 
+     192             :   // | -------------------- tracker's output -------------------- |
+     193             : 
+     194             :   mrs_msgs::TrackerCommand position_output_;
+     195             : 
+     196             :   // | ------------------------ profiler ------------------------ |
+     197             : 
+     198             :   mrs_lib::Profiler profiler_;
+     199             :   bool              _profiler_enabled_ = false;
+     200             : 
+     201             :   // | ----------------------- constraints ---------------------- |
+     202             : 
+     203             :   mrs_msgs::DynamicsConstraints constraints_;
+     204             :   std::mutex                    mutex_constraints_;
+     205             : };
+     206             : 
+     207             : //}
+     208             : 
+     209             : // | -------------- tracker's interface routines -------------- |
+     210             : 
+     211             : /* //{ initialize() */
+     212             : 
+     213         108 : bool LandoffTracker::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         108 :   this->common_handlers_  = common_handlers;
+     217         108 :   this->private_handlers_ = private_handlers;
+     218             : 
+     219         108 :   _uav_name_ = common_handlers->uav_name;
+     220             : 
+     221         108 :   nh_ = nh;
+     222             : 
+     223         108 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // --------------------------------------------------------------
+     226             :   // |                     loading parameters                     |
+     227             :   // --------------------------------------------------------------
+     228             : 
+     229             :   // | ---------- loading params using the parent's nh ---------- |
+     230             : 
+     231         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     232             : 
+     233         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     234             : 
+     235         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     236           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     237           0 :     return false;
+     238             :   }
+     239             : 
+     240             :   // | --------------- loading plugin's parameters -------------- |
+     241             : 
+     242         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     243         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     244             : 
+     245         216 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     246             : 
+     247         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     248         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     249             : 
+     250         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     251         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     252             : 
+     253         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     254         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     255             : 
+     256         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     257         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     258             : 
+     259         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     260         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     261             : 
+     262         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     263         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     264             : 
+     265         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     266             : 
+     267         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     268             : 
+     269         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     270             : 
+     271         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     272         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     273             : 
+     274         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     275           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     276           0 :     return false;
+     277             :   }
+     278             : 
+     279         108 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     280             : 
+     281         108 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     282             : 
+     283         108 :   state_x_       = 0;
+     284         108 :   state_y_       = 0;
+     285         108 :   state_z_       = 0;
+     286         108 :   state_heading_ = 0;
+     287             : 
+     288         108 :   speed_x_       = 0;
+     289         108 :   speed_y_       = 0;
+     290         108 :   speed_heading_ = 0;
+     291             : 
+     292         108 :   current_horizontal_speed_ = 0;
+     293         108 :   current_vertical_speed_   = 0;
+     294             : 
+     295         108 :   current_horizontal_acceleration_ = 0;
+     296         108 :   current_vertical_acceleration_   = 0;
+     297             : 
+     298         108 :   current_vertical_direction_ = 0;
+     299             : 
+     300         108 :   current_state_vertical_  = LANDED_STATE;
+     301         108 :   previous_state_vertical_ = LANDED_STATE;
+     302             : 
+     303         108 :   current_state_horizontal_  = LANDED_STATE;
+     304         108 :   previous_state_horizontal_ = LANDED_STATE;
+     305             : 
+     306             :   // | ------------------------ profiler ------------------------ |
+     307             : 
+     308         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     309             : 
+     310             :   // | ------------------------ services ------------------------ |
+     311             : 
+     312         108 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     313         108 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     314         108 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     315             : 
+     316             :   // | ------------------------- timers ------------------------- |
+     317             : 
+     318         108 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     319             : 
+     320             :   // | ----------------------- finish init ---------------------- |
+     321             : 
+     322         108 :   is_initialized_ = true;
+     323             : 
+     324         108 :   ROS_INFO("[LandoffTracker]: initialized");
+     325             : 
+     326         108 :   return true;
+     327             : }
+     328             : 
+     329             : //}
+     330             : 
+     331             : /* //{ activate() */
+     332             : 
+     333          45 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     334             : 
+     335          90 :   std::stringstream ss;
+     336             : 
+     337          45 :   if (!got_uav_state_) {
+     338             : 
+     339           0 :     ss << "odometry not set";
+     340           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+     341           0 :     return std::tuple(false, ss.str());
+     342             :   }
+     343             : 
+     344          45 :   activate_as_the_first_tracker = !last_tracker_cmd.has_value();
+     345             : 
+     346             :   // copy member variables
+     347          90 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     348             : 
+     349             :   double uav_heading;
+     350             : 
+     351             :   try {
+     352          45 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     353             :   }
+     354           0 :   catch (...) {
+     355             : 
+     356           0 :     ss << "could not initialize the UAV heading";
+     357           0 :     ROS_ERROR_STREAM("[LandoffTracker]: " << ss.str());
+     358           0 :     return std::tuple(false, ss.str());
+     359             :   }
+     360             : 
+     361             :   // --------------------------------------------------------------
+     362             :   // |                      initial condition                     |
+     363             :   // --------------------------------------------------------------
+     364             : 
+     365             :   {
+     366          90 :     std::scoped_lock lock(mutex_goal_);
+     367             : 
+     368             :     // the last command is usable
+     369          45 :     state_x_       = uav_state.pose.position.x;
+     370          45 :     state_y_       = uav_state.pose.position.y;
+     371          45 :     state_z_       = uav_state.pose.position.z;
+     372          45 :     state_heading_ = uav_heading;
+     373             : 
+     374          45 :     speed_x_         = uav_state.velocity.linear.x;
+     375          45 :     speed_y_         = uav_state.velocity.linear.y;
+     376          45 :     current_heading_ = atan2(speed_y_, speed_x_);
+     377             : 
+     378          45 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     379             : 
+     380          45 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     381          45 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     382             : 
+     383          45 :     current_horizontal_acceleration_ = 0;
+     384          45 :     current_vertical_acceleration_   = 0;
+     385             : 
+     386          45 :     goal_heading_ = uav_heading;
+     387             : 
+     388          45 :     ROS_INFO("[LandoffTracker]: initial condition: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", state_x_, state_y_, state_z_, state_heading_);
+     389             :   }
+     390             : 
+     391             :   // --------------------------------------------------------------
+     392             :   // |          horizontal initial conditions prediction          |
+     393             :   // --------------------------------------------------------------
+     394             : 
+     395             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     396             : 
+     397             :   {
+     398          45 :     std::scoped_lock lock(mutex_state_);
+     399             : 
+     400          45 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     401          45 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     402          45 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     403          45 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     404             :   }
+     405             : 
+     406             :   // --------------------------------------------------------------
+     407             :   // |           vertical initial conditions prediction           |
+     408             :   // --------------------------------------------------------------
+     409             : 
+     410             :   double vertical_t_stop, vertical_stop_dist;
+     411             : 
+     412             :   {
+     413          45 :     std::scoped_lock lock(mutex_state_);
+     414             : 
+     415          45 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     416          45 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     417             :   }
+     418             : 
+     419             :   // --------------------------------------------------------------
+     420             :   // |               heading initial condition prediction             |
+     421             :   // --------------------------------------------------------------
+     422             : 
+     423             :   {
+     424          45 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     425             : 
+     426          45 :     goal_x_ = state_x_ + stop_dist_x;
+     427          45 :     goal_y_ = state_y_ + stop_dist_y;
+     428          45 :     goal_z_ = state_z_ + vertical_stop_dist;
+     429             :   }
+     430             : 
+     431          45 :   landing_        = false;
+     432          45 :   taking_off_     = false;
+     433          45 :   is_active_      = true;
+     434          45 :   have_goal_      = false;
+     435          45 :   cause_failsafe_ = false;
+     436             : 
+     437          45 :   timer_main_.start();
+     438             : 
+     439             :   {
+     440          90 :     std::scoped_lock lock(mutex_goal_);
+     441             : 
+     442          45 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     443             :   }
+     444             : 
+     445          45 :   changeState(STOP_MOTION_STATE);
+     446             : 
+     447          45 :   ss << "activated";
+     448          45 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     449             : 
+     450          45 :   return std::tuple(true, ss.str());
+     451             : }
+     452             : 
+     453             : //}
+     454             : 
+     455             : /* //{ deactivate() */
+     456             : 
+     457          61 : void LandoffTracker::deactivate(void) {
+     458             : 
+     459          61 :   is_active_                = false;
+     460          61 :   landing_                  = false;
+     461          61 :   taking_off_               = false;
+     462          61 :   current_state_vertical_   = IDLE_STATE;
+     463          61 :   current_state_horizontal_ = IDLE_STATE;
+     464             : 
+     465          61 :   timer_main_.stop();
+     466             : 
+     467          61 :   ROS_INFO("[LandoffTracker]: deactivated");
+     468          61 : }
+     469             : 
+     470             : //}
+     471             : 
+     472             : /* //{ resetStatic() */
+     473             : 
+     474           0 : bool LandoffTracker::resetStatic(void) {
+     475             : 
+     476           0 :   return false;
+     477             : }
+     478             : 
+     479             : //}
+     480             : 
+     481             : /* //{ update() */
+     482             : 
+     483      139435 : std::optional<mrs_msgs::TrackerCommand> LandoffTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     484             :                                                                [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     485             : 
+     486      418305 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     487      418305 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     488             : 
+     489             :   {
+     490      139435 :     std::scoped_lock lock(mutex_uav_state_);
+     491             : 
+     492      139435 :     uav_state_ = uav_state;
+     493             : 
+     494      139435 :     got_uav_state_ = true;
+     495             :   }
+     496             : 
+     497             :   // up to this part the update() method is evaluated even when the tracker is not active
+     498      139435 :   if (!is_active_ || cause_failsafe_) {
+     499      121624 :     return {};
+     500             :   }
+     501             : 
+     502       17811 :   position_output_.header.stamp    = ros::Time::now();
+     503       17811 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     504             : 
+     505             :   {
+     506       17811 :     std::scoped_lock lock(mutex_state_);
+     507             : 
+     508       17811 :     position_output_.position.x = state_x_;
+     509       17811 :     position_output_.position.y = state_y_;
+     510       17811 :     position_output_.position.z = state_z_;
+     511       17811 :     position_output_.heading    = state_heading_;
+     512             : 
+     513       17811 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     514       17811 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     515       17811 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     516       17811 :     position_output_.heading_rate = speed_heading_;
+     517             : 
+     518       17811 :     position_output_.use_position_vertical   = 1;
+     519       17811 :     position_output_.use_position_horizontal = 1;
+     520       17811 :     position_output_.use_heading             = 1;
+     521       17811 :     position_output_.use_heading_rate        = 1;
+     522       17811 :     position_output_.use_velocity_vertical   = 1;
+     523       17811 :     position_output_.use_velocity_horizontal = 1;
+     524             :   }
+     525             : 
+     526             :   {
+     527       35622 :     std::scoped_lock lock(mutex_last_control_output_);
+     528             : 
+     529       17811 :     last_control_output_ = last_control_output;
+     530             :   }
+     531             : 
+     532       17811 :   if (_takeoff_disable_lateral_gains_ && taking_off_ && uav_state_.pose.position.z < _takeoff_disable_lateral_gains_z_) {
+     533           0 :     position_output_.disable_position_gains = true;
+     534             :   } else {
+     535       17811 :     position_output_.disable_position_gains = false;
+     536             :   }
+     537             : 
+     538       17811 :   if (taking_off_) {
+     539        8974 :     position_output_.disable_antiwindups = true;
+     540             :   } else {
+     541        8837 :     position_output_.disable_antiwindups = false;
+     542             :   }
+     543             : 
+     544       17811 :   return {position_output_};
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* //{ getStatus() */
+     550             : 
+     551        2239 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     552             : 
+     553        2239 :   mrs_msgs::TrackerStatus tracker_status;
+     554             : 
+     555        2239 :   tracker_status.active            = is_active_;
+     556        2239 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     557             : 
+     558        2239 :   const bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     559        2239 :   const bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     560             : 
+     561             :   // the (hovering && activate_as_the_first_tracker) part of the condition makes sure that the IDLE will be
+     562             :   // reported even when hovering on the ground, just before the takeoff service is called
+     563        2239 :   if (idling || (hovering && activate_as_the_first_tracker)) {
+     564             : 
+     565         180 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     566             : 
+     567        2059 :   } else if (taking_off_) {
+     568             : 
+     569         965 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TAKEOFF;
+     570             : 
+     571        1094 :   } else if (hovering) {
+     572             : 
+     573           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+     574             : 
+     575        1094 :   } else if (landing_) {
+     576             : 
+     577        1086 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_LAND;
+     578             :   }
+     579             : 
+     580        2239 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     581             : 
+     582        2239 :   tracker_status.tracking_trajectory = false;
+     583             : 
+     584        2239 :   return tracker_status;
+     585             : }
+     586             : 
+     587             : //}
+     588             : 
+     589             : /* //{ enableCallbacks() */
+     590             : 
+     591         309 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     592             : 
+     593         618 :   std_srvs::SetBoolResponse res;
+     594         618 :   std::stringstream         ss;
+     595             : 
+     596         309 :   if (cmd->data != callbacks_enabled_) {
+     597             : 
+     598          19 :     callbacks_enabled_ = cmd->data;
+     599             : 
+     600          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     601          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     602             : 
+     603             :   } else {
+     604             : 
+     605         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     606         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     607             :   }
+     608             : 
+     609         309 :   res.message = ss.str();
+     610         309 :   res.success = true;
+     611             : 
+     612         618 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : /* switchOdometrySource() //{ */
+     618             : 
+     619           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState& new_uav_state) {
+     620             : 
+     621           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     622             : 
+     623           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     624             : 
+     625           0 :   double old_heading  = 0;
+     626           0 :   double new_heading  = 0;
+     627           0 :   bool   got_headings = true;
+     628             : 
+     629             :   try {
+     630           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     631             :   }
+     632           0 :   catch (...) {
+     633           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the old UAV heading");
+     634           0 :     got_headings = false;
+     635             :   }
+     636             : 
+     637             :   try {
+     638           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     639             :   }
+     640           0 :   catch (...) {
+     641           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the new UAV heading");
+     642           0 :     got_headings = false;
+     643             :   }
+     644             : 
+     645           0 :   std_srvs::TriggerResponse res;
+     646             : 
+     647           0 :   if (!got_headings) {
+     648           0 :     res.message = "could not calculate the heading difference";
+     649           0 :     res.success = false;
+     650             : 
+     651           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     652             :   }
+     653             : 
+     654             :   // | --------- recalculate the goal to new coordinates -------- |
+     655             : 
+     656           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     657           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     658           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     659           0 :   double dheading = new_heading - old_heading;
+     660             : 
+     661           0 :   goal_x_ += dx;
+     662           0 :   goal_y_ += dy;
+     663           0 :   goal_z_ += dz;
+     664           0 :   goal_heading_ += dheading;
+     665             : 
+     666             :   // | -------------------- update the state -------------------- |
+     667             : 
+     668           0 :   state_x_ += dx;
+     669           0 :   state_y_ += dy;
+     670           0 :   state_z_ += dz;
+     671           0 :   state_heading_ += dheading;
+     672             : 
+     673           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     674             : 
+     675           0 :   res.message = "odometry source switched";
+     676           0 :   res.success = true;
+     677             : 
+     678           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     679             : }
+     680             : 
+     681             : //}
+     682             : 
+     683             : /* //{ hover() */
+     684           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     685             : 
+     686           0 :   std::scoped_lock lock(mutex_main_timer_);
+     687             : 
+     688             :   // copy member variables
+     689           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     690             : 
+     691           0 :   auto [current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] =
+     692           0 :       mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+     693             : 
+     694           0 :   std_srvs::TriggerResponse res;
+     695             : 
+     696             :   // --------------------------------------------------------------
+     697             :   // |          horizontal initial conditions prediction          |
+     698             :   // --------------------------------------------------------------
+     699             :   {
+     700           0 :     std::scoped_lock lock(mutex_state_);
+     701             : 
+     702           0 :     current_horizontal_speed_ = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2));
+     703           0 :     current_vertical_speed_   = uav_state.velocity.linear.z;
+     704           0 :     current_heading_          = atan2(uav_state.velocity.linear.y, uav_state.velocity.linear.x);
+     705             :   }
+     706             : 
+     707             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     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             :   // |           vertical initial conditions prediction           |
+     716             :   // --------------------------------------------------------------
+     717             : 
+     718           0 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+     719           0 :   double vertical_stop_dist = current_vertical_direction * (vertical_t_stop * current_vertical_speed) / 2.0;
+     720             : 
+     721             :   // --------------------------------------------------------------
+     722             :   // |                        set the goal                        |
+     723             :   // --------------------------------------------------------------
+     724             : 
+     725             :   {
+     726           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+     727             : 
+     728           0 :     goal_x_ = state_x_ + stop_dist_x;
+     729           0 :     goal_y_ = state_y_ + stop_dist_y;
+     730           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     731             :   }
+     732             : 
+     733           0 :   res.message = "hover initiated";
+     734           0 :   res.success = true;
+     735             : 
+     736           0 :   changeState(STOP_MOTION_STATE);
+     737             : 
+     738           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* //{ startTrajectoryTracking() */
+     744             : 
+     745           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     746           0 :   return std_srvs::TriggerResponse::Ptr();
+     747             : }
+     748             : 
+     749             : //}
+     750             : 
+     751             : /* //{ stopTrajectoryTracking() */
+     752             : 
+     753           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     754           0 :   return std_srvs::TriggerResponse::Ptr();
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : /* //{ resumeTrajectoryTracking() */
+     760             : 
+     761           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     762           0 :   return std_srvs::TriggerResponse::Ptr();
+     763             : }
+     764             : 
+     765             : //}
+     766             : 
+     767             : /* //{ gotoTrajectoryStart() */
+     768             : 
+     769           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     770           0 :   return std_srvs::TriggerResponse::Ptr();
+     771             : }
+     772             : 
+     773             : //}
+     774             : 
+     775             : /* //{ setConstraints() */
+     776             : 
+     777         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     778             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     779             : 
+     780             : 
+     781         380 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     782             : 
+     783         380 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     784             : 
+     785         760 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     786         380 :   res.success = true;
+     787         380 :   res.message = "constraints updated";
+     788             : 
+     789         760 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     790             : }
+     791             : 
+     792             : //}
+     793             : 
+     794             : /* //{ setReference() */
+     795             : 
+     796           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LandoffTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+     797             : 
+     798           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     799             : }
+     800             : 
+     801             : //}
+     802             : 
+     803             : /* //{ setVelocityReference() */
+     804             : 
+     805           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LandoffTracker::setVelocityReference([
+     806             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+     807           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     808             : }
+     809             : 
+     810             : //}
+     811             : 
+     812             : /* //{ setTrajectoryReference() */
+     813             : 
+     814           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     815             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     816           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : // | ----------------- state machine routines ----------------- |
+     822             : 
+     823             : /* //{ changeStateHorizontal() */
+     824             : 
+     825         179 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     826             : 
+     827         179 :   previous_state_horizontal_ = current_state_horizontal_;
+     828         179 :   current_state_horizontal_  = new_state;
+     829             : 
+     830         179 :   switch (current_state_horizontal_) {
+     831             : 
+     832          57 :     case STOPPING_STATE: {
+     833             : 
+     834         114 :       std::scoped_lock lock(mutex_state_);
+     835          57 :       current_horizontal_speed_ = 0;
+     836             : 
+     837          57 :       break;
+     838             :     };
+     839             : 
+     840         122 :     default: {
+     841             : 
+     842         122 :       break;
+     843             :     }
+     844             :   }
+     845             : 
+     846         179 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names.at(previous_state_horizontal_), state_names.at(current_state_horizontal_));
+     847         179 : }
+     848             : 
+     849             : //}
+     850             : 
+     851             : /* //{ changeStateVertical() */
+     852             : 
+     853         219 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     854             : 
+     855         219 :   previous_state_vertical_ = current_state_vertical_;
+     856         219 :   current_state_vertical_  = new_state;
+     857             : 
+     858         219 :   switch (current_state_vertical_) {
+     859             : 
+     860          44 :     case HOVER_STATE: {
+     861          44 :       taking_off_ = false;
+     862          44 :       break;
+     863             :     }
+     864             : 
+     865         175 :     default: {
+     866         175 :       break;
+     867             :     }
+     868             :   }
+     869             : 
+     870         219 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names.at(previous_state_vertical_), state_names.at(current_state_vertical_));
+     871         219 : }
+     872             : 
+     873             : //}
+     874             : 
+     875             : /* //{ changeState() */
+     876             : 
+     877         146 : void LandoffTracker::changeState(States_t new_state) {
+     878             : 
+     879         146 :   changeStateVertical(new_state);
+     880         146 :   changeStateHorizontal(new_state);
+     881         146 : }
+     882             : 
+     883             : //}
+     884             : 
+     885             : // | --------------------- motion routines -------------------- |
+     886             : 
+     887             : /* //{ stopHorizontalMotion() */
+     888             : 
+     889         674 : void LandoffTracker::stopHorizontalMotion(void) {
+     890             : 
+     891             :   {
+     892        1348 :     std::scoped_lock lock(mutex_state_);
+     893             : 
+     894         674 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     895             : 
+     896         674 :     if (current_horizontal_speed_ < 0) {
+     897         407 :       current_horizontal_speed_        = 0;
+     898         407 :       current_horizontal_acceleration_ = 0;
+     899             :     } else {
+     900         267 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     901             :     }
+     902             :   }
+     903         674 : }
+     904             : 
+     905             : //}
+     906             : 
+     907             : /* //{ stopVerticalMotion() */
+     908             : 
+     909         674 : void LandoffTracker::stopVerticalMotion(void) {
+     910             : 
+     911             :   {
+     912        1348 :     std::scoped_lock lock(mutex_state_);
+     913             : 
+     914         674 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     915             : 
+     916         674 :     if (current_vertical_speed_ < 0) {
+     917          38 :       current_vertical_speed_        = 0;
+     918          38 :       current_vertical_acceleration_ = 0;
+     919             :     } else {
+     920         636 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     921             :     }
+     922             :   }
+     923         674 : }
+     924             : 
+     925             : //}
+     926             : 
+     927             : /* //{ accelerateVertical() */
+     928             : 
+     929       15839 : void LandoffTracker::accelerateVertical(void) {
+     930             : 
+     931             :   // copy member variables
+     932       15839 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     933       15839 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     934       15839 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     935             : 
+     936             :   double used_acceleration;
+     937             :   double used_speed;
+     938             : 
+     939       15839 :   if (taking_off_) {
+     940             : 
+     941        4573 :     used_speed        = _takeoff_speed_;
+     942        4573 :     used_acceleration = _takeoff_acceleration_;
+     943             : 
+     944        4573 :     if (used_speed > constraints.vertical_ascending_speed) {
+     945           0 :       used_speed = constraints.vertical_ascending_speed;
+     946           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff speed");
+     947             :     }
+     948             : 
+     949        4573 :     if (used_acceleration > constraints.vertical_ascending_acceleration) {
+     950           0 :       used_acceleration = constraints.vertical_ascending_acceleration;
+     951           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff acceleration");
+     952             :     }
+     953             : 
+     954       11266 :   } else if (landing_) {
+     955             : 
+     956       11266 :     if (elanding_) {
+     957             : 
+     958        7033 :       used_speed        = _elanding_speed_;
+     959        7033 :       used_acceleration = _elanding_acceleration_;
+     960             : 
+     961             :     } else {
+     962             : 
+     963        4233 :       used_speed        = _landing_speed_;
+     964        4233 :       used_acceleration = _landing_acceleration_;
+     965             : 
+     966        4233 :       if (used_speed > constraints.vertical_descending_speed) {
+     967           0 :         used_speed = constraints.vertical_descending_speed;
+     968           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing speed");
+     969             :       }
+     970             : 
+     971        4233 :       if (used_acceleration > constraints.vertical_descending_acceleration) {
+     972           0 :         used_acceleration = constraints.vertical_descending_acceleration;
+     973           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing acceleration");
+     974             :       }
+     975             :     }
+     976             : 
+     977             :   } else {
+     978             : 
+     979             :     // TODO take this from constraints
+     980           0 :     used_speed        = _vertical_speed_;
+     981           0 :     used_acceleration = _vertical_acceleration_;
+     982             :   }
+     983             : 
+     984             :   // set the right heading
+     985       15839 :   double tar_z = goal_z - state_z;
+     986             : 
+     987             :   // set the right vertical direction
+     988             :   {
+     989       15839 :     std::scoped_lock lock(mutex_state_);
+     990             : 
+     991       15839 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     992             :   }
+     993             : 
+     994       15839 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+     995             : 
+     996             :   // calculate the time to stop and the distance it will take to stop [vertical]
+     997       15839 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     998       15839 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     999       15839 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1000             : 
+    1001             :   {
+    1002       31678 :     std::scoped_lock lock(mutex_state_);
+    1003             : 
+    1004       15839 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+    1005             : 
+    1006       15839 :     if (current_vertical_speed_ >= used_speed) {
+    1007        3862 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1008        3862 :       current_vertical_acceleration_ = 0;
+    1009             :     } else {
+    1010       11977 :       current_vertical_acceleration_ = used_acceleration;
+    1011             :     }
+    1012             :   }
+    1013             : 
+    1014             :   // stopping condition to change to decelerate state
+    1015             :   //
+    1016             :   // It does not apply if landing or elanding, cause,
+    1017             :   // it could potentially stop in mid air if odometry jumps (this happened),
+    1018             :   // Instead, landing and elanding is stopped by sensing the throttle.
+    1019       15839 :   if (!elanding_ && !landing_) {
+    1020        4573 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+    1021             : 
+    1022             :       {
+    1023          20 :         std::scoped_lock lock(mutex_state_);
+    1024             : 
+    1025          20 :         current_vertical_acceleration_ = 0;
+    1026             :       }
+    1027             : 
+    1028          20 :       changeStateVertical(DECELERATING_STATE);
+    1029             :     }
+    1030             :   }
+    1031       15839 : }
+    1032             : 
+    1033             : //}
+    1034             : 
+    1035             : /* //{ decelerateVertical() */
+    1036             : 
+    1037        4573 : void LandoffTracker::decelerateVertical(void) {
+    1038             : 
+    1039             :   double used_acceleration;
+    1040             : 
+    1041        4573 :   if (taking_off_) {
+    1042             : 
+    1043        4573 :     used_acceleration = _takeoff_acceleration_;
+    1044             : 
+    1045           0 :   } else if (landing_) {
+    1046             : 
+    1047           0 :     if (elanding_) {
+    1048             : 
+    1049           0 :       used_acceleration = _elanding_acceleration_;
+    1050             : 
+    1051             :     } else {
+    1052             : 
+    1053           0 :       used_acceleration = _landing_acceleration_;
+    1054             :     }
+    1055             : 
+    1056             :   } else {
+    1057           0 :     used_acceleration = _vertical_acceleration_;
+    1058             :   }
+    1059             : 
+    1060             :   {
+    1061        9146 :     std::scoped_lock lock(mutex_state_);
+    1062             : 
+    1063        4573 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1064             : 
+    1065        4573 :     if (current_vertical_speed_ < 0) {
+    1066          20 :       current_vertical_speed_ = 0;
+    1067             :     } else {
+    1068        4553 :       current_vertical_acceleration_ = -used_acceleration;
+    1069             :     }
+    1070             :   }
+    1071             : 
+    1072        4573 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1073             : 
+    1074        4573 :   if (current_vertical_speed == 0) {
+    1075             : 
+    1076             :     {
+    1077          20 :       std::scoped_lock lock(mutex_state_);
+    1078             : 
+    1079          20 :       current_vertical_acceleration_ = 0;
+    1080             :     }
+    1081             : 
+    1082          20 :     changeStateVertical(STOPPING_STATE);
+    1083             :   }
+    1084        4573 : }
+    1085             : 
+    1086             : //}
+    1087             : 
+    1088             : /* //{ stopHorizontal() */
+    1089             : 
+    1090       20412 : void LandoffTracker::stopHorizontal(void) {
+    1091             : 
+    1092             :   {
+    1093       20412 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1094             : 
+    1095       20412 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1096       20412 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1097             : 
+    1098       20412 :     double dist_x = new_state_x - state_x_;
+    1099       20412 :     double dist_y = new_state_y - state_y_;
+    1100             : 
+    1101       20412 :     double dt = 1.0 / _main_timer_rate_;
+    1102             : 
+    1103       20412 :     if (std::abs(dist_x / dt) > 1.0) {
+    1104           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1105             :     }
+    1106             : 
+    1107       20412 :     if (std::abs(dist_y / dt) > 1.0) {
+    1108           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1109             :     }
+    1110             : 
+    1111       20412 :     state_x_ += dist_x;
+    1112       20412 :     state_y_ += dist_y;
+    1113             : 
+    1114       20412 :     current_horizontal_acceleration_ = 0;
+    1115             :   }
+    1116       20412 : }
+    1117             : 
+    1118             : //}
+    1119             : 
+    1120             : /* //{ stopVertical() */
+    1121             : 
+    1122           0 : void LandoffTracker::stopVertical(void) {
+    1123             : 
+    1124             :   {
+    1125           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1126             : 
+    1127           0 :     double new_state_z = 0.95 * state_z_ + 0.05 * goal_z_;
+    1128             : 
+    1129           0 :     double dist_z = new_state_z - state_z_;
+    1130             : 
+    1131           0 :     double dt = 1.0 / _main_timer_rate_;
+    1132             : 
+    1133           0 :     if (std::abs(dist_z / dt) > 1.0) {
+    1134           0 :       dist_z = mrs_lib::signum(dist_z) * (1.0 * dt);
+    1135             :     }
+    1136             : 
+    1137           0 :     state_z_ += dist_z;
+    1138             : 
+    1139           0 :     current_vertical_acceleration_ = 0;
+    1140             :   }
+    1141           0 : }
+    1142             : 
+    1143             : //}
+    1144             : 
+    1145             : // | --------------------- timer routines --------------------- |
+    1146             : 
+    1147             : /* //{ timerMain() */
+    1148             : 
+    1149       23381 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1150             : 
+    1151       23381 :   std::scoped_lock lock(mutex_main_timer_);
+    1152             : 
+    1153       23381 :   if (!is_active_) {
+    1154           0 :     return;
+    1155             :   }
+    1156             : 
+    1157             :   // copy member variables
+    1158       46762 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1159       23381 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1160       23381 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1161       23381 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1162       46762 :   auto last_control_output      = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1163             : 
+    1164             :   double uav_x, uav_y, uav_z;
+    1165       23381 :   uav_x = uav_state.pose.position.x;
+    1166       23381 :   uav_y = uav_state.pose.position.y;
+    1167       23381 :   uav_z = uav_state.pose.position.z;
+    1168             : 
+    1169       70143 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1170       70143 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1171             : 
+    1172       23381 :   bool takeoff_saturated = false;
+    1173             : 
+    1174       23381 :   if (taking_off_) {
+    1175             : 
+    1176             :     // calculate the vector
+    1177        9666 :     double err_x      = uav_x - state_x;
+    1178        9666 :     double err_y      = uav_y - state_y;
+    1179        9666 :     double err_z      = uav_z - state_z;
+    1180        9666 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1181             : 
+    1182        9666 :     if (error_size > _max_position_difference_) {
+    1183             : 
+    1184             :       // calculate the potential next step
+    1185          73 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1186          73 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1187          73 :       double future_state_z = state_z + current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1188             : 
+    1189             :       // if the step would lead to a greater control error than the threshold
+    1190          73 :       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) {
+    1191             : 
+    1192             :         // set this to true... later, we will not update the model if this is true, thus the tracker's motion will stop
+    1193             :         // => the tracker will wait for the controller
+    1194          73 :         takeoff_saturated = true;
+    1195             : 
+    1196          73 :         ROS_WARN_THROTTLE(
+    1197             :             0.1, "[LandoffTracker]: position difference %.3f > %.3f, saturating the motion. Reference: x=%.2f, y=%.2f, z=%.2f, Odometry: %.2f, %.2f, %.2f",
+    1198             :             error_size, _max_position_difference_, future_state_x, future_state_y, future_state_z, uav_x, uav_y, uav_z);
+    1199             :       }
+    1200             :     }
+    1201             : 
+    1202             :     // saturate while ramping up during takeoff
+    1203        9666 :     if (last_control_output.diagnostics.ramping_up) {
+    1204             : 
+    1205         447 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1206         447 :       takeoff_saturated = true;
+    1207             :     }
+    1208             :   }
+    1209             : 
+    1210       23381 :   if (!takeoff_saturated) {
+    1211             : 
+    1212       22861 :     switch (current_state_horizontal_) {
+    1213             : 
+    1214         674 :       case STOP_MOTION_STATE: {
+    1215             : 
+    1216         674 :         stopHorizontalMotion();
+    1217         674 :         break;
+    1218             :       }
+    1219             : 
+    1220       20412 :       case STOPPING_STATE: {
+    1221             : 
+    1222       20412 :         stopHorizontal();
+    1223       20412 :         break;
+    1224             :       }
+    1225             : 
+    1226        1775 :       default: {
+    1227             : 
+    1228        1775 :         break;
+    1229             :       }
+    1230             :     }
+    1231             : 
+    1232       22861 :     switch (current_state_vertical_) {
+    1233             : 
+    1234         674 :       case STOP_MOTION_STATE: {
+    1235             : 
+    1236         674 :         stopVerticalMotion();
+    1237         674 :         break;
+    1238             :       }
+    1239             : 
+    1240       15839 :       case ACCELERATING_STATE: {
+    1241             : 
+    1242       15839 :         accelerateVertical();
+    1243       15839 :         break;
+    1244             :       }
+    1245             : 
+    1246        4573 :       case DECELERATING_STATE: {
+    1247             : 
+    1248        4573 :         decelerateVertical();
+    1249        4573 :         break;
+    1250             :       }
+    1251             : 
+    1252           0 :       case STOPPING_STATE: {
+    1253             : 
+    1254           0 :         stopVertical();
+    1255           0 :         break;
+    1256             :       }
+    1257             : 
+    1258        1775 :       default: {
+    1259             : 
+    1260        1775 :         break;
+    1261             :       }
+    1262             :     }
+    1263             :   }
+    1264             : 
+    1265       23381 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1266         694 :     if (fabs(current_vertical_speed) <= 0.1 && fabs(current_horizontal_speed) <= 0.1) {
+    1267             : 
+    1268             :       // if the current motion was stopped (the conditions above) but we still have a goal (landing or taking off)
+    1269             :       // -> we should start accelerating towards the goal in the vertical direction
+    1270             :       // This is important, do not modify without testing, otherwise your landing routine may crash into the ground
+    1271             :       // while having large lateral speed
+    1272          57 :       if (have_goal_) {
+    1273             : 
+    1274          33 :         changeStateVertical(ACCELERATING_STATE);
+    1275          33 :         changeStateHorizontal(STOPPING_STATE);
+    1276             : 
+    1277             :       } else {
+    1278             : 
+    1279          24 :         changeState(STOPPING_STATE);
+    1280             : 
+    1281             :         {
+    1282          24 :           std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          24 :           current_horizontal_speed_ = 0;
+    1285          24 :           current_vertical_speed_   = 0;
+    1286             :         }
+    1287             :       }
+    1288             :     }
+    1289             :   }
+    1290             : 
+    1291       23381 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1292             : 
+    1293          44 :     if (fabs(state_x - goal_x) > 1.0 || fabs(state_y - goal_y) > 1.0 || fabs(state_z - goal_z) > 1.0) {
+    1294             : 
+    1295           0 :       ROS_ERROR("[LandoffTracker]: distance to the goal is too large when STOPPING, this could have been caused by a race condition!");
+    1296           0 :       ROS_ERROR("[LandoffTracker]: call for Tomas!!");
+    1297             : 
+    1298           0 :       cause_failsafe_ = true;
+    1299             : 
+    1300           0 :       changeState(HOVER_STATE);
+    1301             : 
+    1302          44 :     } else if (fabs(state_x - goal_x) < 0.1 && fabs(state_y - goal_y) < 0.1 && fabs(state_z - goal_z) < 0.1) {
+    1303             : 
+    1304             :       {
+    1305          44 :         std::scoped_lock lock(mutex_state_);
+    1306             : 
+    1307          44 :         if (!taking_off_) {
+    1308          24 :           state_x_ = goal_x;
+    1309          24 :           state_y_ = goal_y;
+    1310          24 :           state_z_ = goal_z;
+    1311             :         }
+    1312             : 
+    1313          44 :         current_horizontal_speed_ = 0;
+    1314          44 :         current_vertical_speed_   = 0;
+    1315             :       }
+    1316             : 
+    1317          44 :       changeState(HOVER_STATE);
+    1318             : 
+    1319          44 :       have_goal_ = false;
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323       23381 :   if (current_state_horizontal_ == LANDED_STATE && current_state_vertical_ == LANDED_STATE) {
+    1324             :     {
+    1325           0 :       std::scoped_lock lock(mutex_state_);
+    1326             : 
+    1327           0 :       state_x_ = goal_x = uav_x;
+    1328           0 :       state_y_ = goal_y = uav_y;
+    1329           0 :       state_z_ = goal_z = uav_z;
+    1330             : 
+    1331           0 :       have_goal_ = false;
+    1332             :     }
+    1333             :   }
+    1334             : 
+    1335             :   // --------------------------------------------------------------
+    1336             :   // |              motion saturation during takeoff              |
+    1337             :   // --------------------------------------------------------------
+    1338             : 
+    1339             :   // update the inner states
+    1340       23381 :   if (!takeoff_saturated) {
+    1341             :     {
+    1342       22861 :       std::scoped_lock lock(mutex_state_);
+    1343             : 
+    1344       22861 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1345       22861 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1346       22861 :       state_z_ += current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1347             :     }
+    1348             :   }
+    1349             : 
+    1350             :   // --------------------------------------------------------------
+    1351             :   // |                        heading tracking                        |
+    1352             :   // --------------------------------------------------------------
+    1353             : 
+    1354             :   // compute the desired heading rate
+    1355             :   {
+    1356       46762 :     std::scoped_lock lock(mutex_state_);
+    1357             : 
+    1358             :     double current_heading_rate;
+    1359             : 
+    1360       23381 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1361           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1362             :     else
+    1363       23381 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1364             : 
+    1365       23381 :     if (current_heading_rate > _heading_rate_) {
+    1366           0 :       current_heading_rate = _heading_rate_;
+    1367       23381 :     } else if (current_heading_rate < -_heading_rate_) {
+    1368           0 :       current_heading_rate = -_heading_rate_;
+    1369             :     }
+    1370             : 
+    1371             :     // flap the resulted state_heading_ aroud PI
+    1372       23381 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1373             : 
+    1374       23381 :     if (state_heading_ > M_PI) {
+    1375           0 :       state_heading_ -= 2 * M_PI;
+    1376       23381 :     } else if (state_heading_ < -M_PI) {
+    1377           0 :       state_heading_ += 2 * M_PI;
+    1378             :     }
+    1379             : 
+    1380       23381 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1381       23381 :       state_heading_ = goal_heading_;
+    1382             :     }
+    1383             :   }
+    1384             : 
+    1385             :   // --------------------------------------------------------------
+    1386             :   // |                      landing setpoint                      |
+    1387             :   // --------------------------------------------------------------
+    1388             : 
+    1389       23381 :   if (landing_) {
+    1390             :     {
+    1391       11878 :       std::scoped_lock lock(mutex_goal_);
+    1392             : 
+    1393       11878 :       goal_z_ = uav_z + _landing_reference_;
+    1394             :     }
+    1395             :   }
+    1396             : }
+    1397             : 
+    1398             : //}
+    1399             : 
+    1400             : // | ------------------------ callbacks ----------------------- |
+    1401             : 
+    1402             : /* //{ callbackTakeoff() */
+    1403             : 
+    1404          20 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1405             : 
+    1406          40 :   std::stringstream ss;
+    1407             : 
+    1408             :   // copy member variables
+    1409          40 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1410             : 
+    1411          20 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1412             : 
+    1413             :   double uav_x, uav_y, uav_z;
+    1414          20 :   uav_x = uav_state.pose.position.x;
+    1415          20 :   uav_y = uav_state.pose.position.y;
+    1416          20 :   uav_z = uav_state.pose.position.z;
+    1417             : 
+    1418          20 :   if (!is_active_) {
+    1419           0 :     ss << "can not takeoff, the tracker is not active";
+    1420           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1421           0 :     res.success = false;
+    1422           0 :     res.message = ss.str();
+    1423           0 :     return true;
+    1424             :   }
+    1425             : 
+    1426          20 :   if (!callbacks_enabled_) {
+    1427           0 :     ss << "can not takeoff, the callbacks are disabled";
+    1428           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1429           0 :     res.success = false;
+    1430           0 :     res.message = ss.str();
+    1431           0 :     return true;
+    1432             :   }
+    1433             : 
+    1434          20 :   if (req.goal < 0.5 || req.goal > 10.0) {
+    1435             : 
+    1436           0 :     ss << "can not takeoff, the goal should be within [0.5, 10.0] m!";
+    1437           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1438           0 :     res.success = false;
+    1439           0 :     res.message = ss.str();
+    1440           0 :     return true;
+    1441             :   }
+    1442             : 
+    1443             :   {
+    1444          40 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1445             : 
+    1446          20 :     state_x_ = uav_x;
+    1447          20 :     goal_x_  = uav_x;
+    1448             : 
+    1449          20 :     state_y_ = uav_y;
+    1450          20 :     goal_y_  = uav_y;
+    1451             : 
+    1452          20 :     state_z_ = uav_z;
+    1453          20 :     goal_z_  = uav_z + req.goal;
+    1454             : 
+    1455          20 :     state_heading_ = uav_heading;
+    1456          20 :     goal_heading_  = uav_heading;
+    1457             : 
+    1458          20 :     speed_x_                = 0;
+    1459          20 :     speed_y_                = 0;
+    1460          20 :     current_vertical_speed_ = 0;
+    1461             : 
+    1462          20 :     have_goal_ = true;
+    1463             :   }
+    1464             : 
+    1465          20 :   ROS_INFO("[LandoffTracker]: taking off");
+    1466             : 
+    1467          20 :   taking_off_ = true;
+    1468          20 :   landing_    = false;
+    1469          20 :   elanding_   = false;
+    1470             : 
+    1471          20 :   res.success = true;
+    1472          20 :   res.message = "taking off";
+    1473             : 
+    1474          20 :   changeState(STOP_MOTION_STATE);
+    1475             : 
+    1476          20 :   return true;
+    1477             : }
+    1478             : 
+    1479             : //}
+    1480             : 
+    1481             : /* //{ callbackLand() */
+    1482             : 
+    1483           5 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1484             : 
+    1485          10 :   std::scoped_lock lock(mutex_main_timer_);
+    1486             : 
+    1487          10 :   std::stringstream ss;
+    1488             : 
+    1489             :   // copy member variables
+    1490          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1491             : 
+    1492           5 :   if (!is_active_) {
+    1493           0 :     ss << "can not land, the tracker is not active";
+    1494           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1495           0 :     res.success = false;
+    1496           0 :     res.message = ss.str();
+    1497           0 :     return true;
+    1498             :   }
+    1499             : 
+    1500             :   {
+    1501           5 :     std::scoped_lock lock(mutex_goal_);
+    1502             : 
+    1503           5 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1504             :   }
+    1505             : 
+    1506           5 :   ROS_INFO("[LandoffTracker]: landing");
+    1507             : 
+    1508           5 :   landing_    = true;
+    1509           5 :   elanding_   = false;
+    1510           5 :   taking_off_ = false;
+    1511           5 :   have_goal_  = true;
+    1512             : 
+    1513           5 :   res.success = true;
+    1514           5 :   res.message = "landing";
+    1515             : 
+    1516           5 :   changeState(STOP_MOTION_STATE);
+    1517             : 
+    1518           5 :   return true;
+    1519             : }
+    1520             : 
+    1521             : //}
+    1522             : 
+    1523             : /* //{ callbackELand() */
+    1524             : 
+    1525           8 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1526             : 
+    1527          16 :   std::scoped_lock lock(mutex_main_timer_);
+    1528             : 
+    1529          16 :   std::stringstream ss;
+    1530             : 
+    1531             :   // copy member variables
+    1532          16 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1533             : 
+    1534           8 :   if (!is_active_) {
+    1535             : 
+    1536           0 :     ss << "can not eland, the tracker is not active";
+    1537           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1538           0 :     res.success = false;
+    1539           0 :     res.message = ss.str();
+    1540           0 :     taking_off_ = false;
+    1541           0 :     landing_    = false;
+    1542           0 :     elanding_   = false;
+    1543           0 :     changeState(LANDED_STATE);
+    1544           0 :     return true;
+    1545             :   }
+    1546             : 
+    1547             :   {
+    1548           8 :     std::scoped_lock lock(mutex_goal_);
+    1549             : 
+    1550           8 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1551             :   }
+    1552             : 
+    1553           8 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1554             : 
+    1555           8 :   landing_    = true;
+    1556           8 :   elanding_   = true;
+    1557           8 :   taking_off_ = false;
+    1558           8 :   have_goal_  = true;
+    1559             : 
+    1560           8 :   res.success = true;
+    1561           8 :   res.message = "elanding";
+    1562             : 
+    1563           8 :   changeState(STOP_MOTION_STATE);
+    1564             : 
+    1565           8 :   return true;
+    1566             : }
+    1567             : 
+    1568             : //}
+    1569             : 
+    1570             : }  // namespace landoff_tracker
+    1571             : 
+    1572             : }  // namespace mrs_uav_trackers
+    1573             : 
+    1574             : #include <pluginlib/class_list_macros.h>
+    1575         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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<unnamed>68.1 %325 / 47763.3 %19 / 30
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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68.1%68.1%
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-10-08 22:31:24Functions:193063.3 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-10-08 22:31:24Functions: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:32547768.1 %
Date:2024-10-08 22:31:24Functions: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)4
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()14
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()14
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()179
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()199
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()851
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1715
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2212
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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:32547768.1 %
Date:2024-10-08 22:31:24Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()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)4
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()851
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()46
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()199
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()14
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
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()1004
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()14
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)6
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&)1715
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()179
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2212
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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:32547768.1 %
Date:2024-10-08 22:31:24Functions: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        1715 : 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        5145 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        5145 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1715 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1715 :     uav_state_ = uav_state;
+     525        1715 :     uav_x_     = uav_state_.pose.position.x;
+     526        1715 :     uav_y_     = uav_state_.pose.position.y;
+     527        1715 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1715 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1715 :   if (!is_active_) {
+     534         106 :     return {};
+     535             :   }
+     536             : 
+     537        3218 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1609 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1609 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1609 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1609 :     tracker_cmd.position.x = state_x_;
+     546        1609 :     tracker_cmd.position.y = state_y_;
+     547        1609 :     tracker_cmd.position.z = state_z_;
+     548        1609 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1609 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1609 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1609 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1609 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1609 :     tracker_cmd.acceleration.x = 0;
+     556        1609 :     tracker_cmd.acceleration.y = 0;
+     557        1609 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1609 :     tracker_cmd.use_position_vertical   = 1;
+     560        1609 :     tracker_cmd.use_position_horizontal = 1;
+     561        1609 :     tracker_cmd.use_heading             = 1;
+     562        1609 :     tracker_cmd.use_heading_rate        = 1;
+     563        1609 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1609 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1609 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1609 :   return {tracker_cmd};
+     569             : }
+     570             : 
+     571             : //}
+     572             : 
+     573             : /* //{ getStatus() */
+     574             : 
+     575         179 : const mrs_msgs::TrackerStatus LineTracker::getStatus() {
+     576             : 
+     577         179 :   mrs_msgs::TrackerStatus tracker_status;
+     578             : 
+     579         179 :   tracker_status.active            = is_active_;
+     580         179 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     581             : 
+     582         179 :   const bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         179 :   if (idling)
+     585          63 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     586             :   else
+     587         116 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+     588             : 
+     589         179 :   tracker_status.have_goal = !idling;
+     590             : 
+     591         179 :   tracker_status.tracking_trajectory = false;
+     592             : 
+     593         179 :   return tracker_status;
+     594             : }
+     595             : 
+     596             : //}
+     597             : 
+     598             : /* //{ enableCallbacks() */
+     599             : 
+     600           0 : const std_srvs::SetBoolResponse::ConstPtr LineTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     601             : 
+     602           0 :   std_srvs::SetBoolResponse res;
+     603           0 :   std::stringstream         ss;
+     604             : 
+     605           0 :   if (cmd->data != callbacks_enabled_) {
+     606             : 
+     607           0 :     callbacks_enabled_ = cmd->data;
+     608             : 
+     609           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     610           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     611             : 
+     612             :   } else {
+     613             : 
+     614           0 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     615           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     616             :   }
+     617             : 
+     618           0 :   res.message = ss.str();
+     619           0 :   res.success = true;
+     620             : 
+     621           0 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     622             : }
+     623             : 
+     624             : //}
+     625             : 
+     626             : /* switchOdometrySource() //{ */
+     627             : 
+     628           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     629             : 
+     630           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     631             : 
+     632           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     633             : 
+     634           0 :   double old_heading  = 0;
+     635           0 :   double new_heading  = 0;
+     636           0 :   bool   got_headings = true;
+     637             : 
+     638             :   try {
+     639           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     640             :   }
+     641           0 :   catch (...) {
+     642           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+     643           0 :     got_headings = false;
+     644             :   }
+     645             : 
+     646             :   try {
+     647           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     648             :   }
+     649           0 :   catch (...) {
+     650           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+     651           0 :     got_headings = false;
+     652             :   }
+     653             : 
+     654           0 :   std_srvs::TriggerResponse res;
+     655             : 
+     656           0 :   if (!got_headings) {
+     657           0 :     res.message = "could not calculate the heading difference";
+     658           0 :     res.success = false;
+     659             : 
+     660           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     661             :   }
+     662             : 
+     663             :   // | --------- recalculate the goal to new coordinates -------- |
+     664             : 
+     665           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     666           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     667           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     668           0 :   double dheading = new_heading - old_heading;
+     669             : 
+     670           0 :   goal_x_ += dx;
+     671           0 :   goal_y_ += dy;
+     672           0 :   goal_z_ += dz;
+     673           0 :   goal_heading_ += dheading;
+     674             : 
+     675             :   // | -------------------- update the state -------------------- |
+     676             : 
+     677           0 :   state_x_ += dx;
+     678           0 :   state_y_ += dy;
+     679           0 :   state_z_ += dz;
+     680           0 :   state_heading_ += dheading;
+     681             : 
+     682           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     683             : 
+     684           0 :   res.message = "odometry source switched";
+     685           0 :   res.success = true;
+     686             : 
+     687           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     688             : }
+     689             : 
+     690             : //}
+     691             : 
+     692             : /* //{ hover() */
+     693             : 
+     694           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     695             : 
+     696           0 :   std_srvs::TriggerResponse res;
+     697             : 
+     698             :   // --------------------------------------------------------------
+     699             :   // |          horizontal initial conditions prediction          |
+     700             :   // --------------------------------------------------------------
+     701             :   {
+     702           0 :     std::scoped_lock lock(mutex_state_, mutex_uav_state_);
+     703             : 
+     704           0 :     current_horizontal_speed_ = sqrt(pow(uav_state_.velocity.linear.x, 2) + pow(uav_state_.velocity.linear.y, 2));
+     705           0 :     current_vertical_speed_   = uav_state_.velocity.linear.z;
+     706           0 :     current_heading_          = atan2(uav_state_.velocity.linear.y, uav_state_.velocity.linear.x);
+     707             :   }
+     708             : 
+     709             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     710             : 
+     711             :   {
+     712           0 :     std::scoped_lock lock(mutex_state_);
+     713             : 
+     714           0 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     715           0 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     716           0 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     717           0 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     718             :   }
+     719             : 
+     720             :   // --------------------------------------------------------------
+     721             :   // |           vertical initial conditions prediction           |
+     722             :   // --------------------------------------------------------------
+     723             : 
+     724             :   double vertical_t_stop, vertical_stop_dist;
+     725             : 
+     726             :   {
+     727           0 :     std::scoped_lock lock(mutex_state_);
+     728             : 
+     729           0 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     730           0 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     731             :   }
+     732             : 
+     733             :   // --------------------------------------------------------------
+     734             :   // |                        set the goal                        |
+     735             :   // --------------------------------------------------------------
+     736             : 
+     737             :   {
+     738           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     739             : 
+     740           0 :     goal_x_ = state_x_ + stop_dist_x;
+     741           0 :     goal_y_ = state_y_ + stop_dist_y;
+     742           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     743             :   }
+     744             : 
+     745           0 :   res.message = "hover initiated";
+     746           0 :   res.success = true;
+     747             : 
+     748           0 :   changeState(STOP_MOTION_STATE);
+     749             : 
+     750           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     751             : }
+     752             : 
+     753             : //}
+     754             : 
+     755             : /* //{ startTrajectoryTracking() */
+     756             : 
+     757           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     758           0 :   return std_srvs::TriggerResponse::Ptr();
+     759             : }
+     760             : 
+     761             : //}
+     762             : 
+     763             : /* //{ stopTrajectoryTracking() */
+     764             : 
+     765           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     766           0 :   return std_srvs::TriggerResponse::Ptr();
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* //{ resumeTrajectoryTracking() */
+     772             : 
+     773           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     774           0 :   return std_srvs::TriggerResponse::Ptr();
+     775             : }
+     776             : 
+     777             : //}
+     778             : 
+     779             : /* //{ gotoTrajectoryStart() */
+     780             : 
+     781           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     782           0 :   return std_srvs::TriggerResponse::Ptr();
+     783             : }
+     784             : 
+     785             : //}
+     786             : 
+     787             : /* //{ setConstraints() */
+     788             : 
+     789           3 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LineTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     790             : 
+     791           6 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     792             : 
+     793             :   // this is the place to copy the constraints
+     794             :   {
+     795           3 :     std::scoped_lock lock(mutex_constraints_);
+     796             : 
+     797           3 :     _horizontal_speed_        = cmd->constraints.horizontal_speed;
+     798           3 :     _horizontal_acceleration_ = cmd->constraints.horizontal_acceleration;
+     799             : 
+     800           3 :     _vertical_speed_        = cmd->constraints.vertical_ascending_speed;
+     801           3 :     _vertical_acceleration_ = cmd->constraints.vertical_ascending_acceleration;
+     802             : 
+     803           3 :     _heading_rate_ = cmd->constraints.heading_speed;
+     804             :   }
+     805             : 
+     806           3 :   res.success = true;
+     807           3 :   res.message = "constraints updated";
+     808             : 
+     809           6 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     810             : }
+     811             : 
+     812             : //}
+     813             : 
+     814             : /* //{ setReference() */
+     815             : 
+     816           1 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LineTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     817             : 
+     818           2 :   mrs_msgs::ReferenceSrvResponse res;
+     819             : 
+     820           1 :   auto state_heading = mrs_lib::get_mutexed(mutex_state_, state_heading_);
+     821             : 
+     822             :   {
+     823           1 :     std::scoped_lock lock(mutex_goal_);
+     824             : 
+     825           1 :     goal_x_       = cmd->reference.position.x;
+     826           1 :     goal_y_       = cmd->reference.position.y;
+     827           1 :     goal_z_       = cmd->reference.position.z;
+     828           1 :     goal_heading_ = radians::unwrap(cmd->reference.heading, state_heading);
+     829             : 
+     830           1 :     ROS_INFO("[LineTracker]: received new setpoint %.2f, %.2f, %.2f, %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     831             : 
+     832           1 :     have_goal_ = true;
+     833             :   }
+     834             : 
+     835           1 :   changeState(STOP_MOTION_STATE);
+     836             : 
+     837           1 :   res.success = true;
+     838           1 :   res.message = "reference set";
+     839             : 
+     840           2 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+     841             : }
+     842             : 
+     843             : //}
+     844             : 
+     845             : /* //{ setVelocityReference() */
+     846             : 
+     847           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LineTracker::setVelocityReference([
+     848             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     849           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* //{ setTrajectoryReference() */
+     855             : 
+     856           0 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LineTracker::setTrajectoryReference([
+     857             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     858           0 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     859             : }
+     860             : 
+     861             : //}
+     862             : 
+     863             : // | ----------------- state machine routines ----------------- |
+     864             : 
+     865             : /* //{ changeStateHorizontal() */
+     866             : 
+     867           6 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     868             : 
+     869           6 :   previous_state_horizontal_ = current_state_horizontal_;
+     870           6 :   current_state_horizontal_  = new_state;
+     871             : 
+     872             :   // just for ROS_INFO
+     873           6 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     874           6 : }
+     875             : 
+     876             : //}
+     877             : 
+     878             : /* //{ changeStateVertical() */
+     879             : 
+     880           6 : void LineTracker::changeStateVertical(States_t new_state) {
+     881             : 
+     882           6 :   previous_state_vertical_ = current_state_vertical_;
+     883           6 :   current_state_vertical_  = new_state;
+     884             : 
+     885             :   // just for ROS_INFO
+     886           6 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     887           6 : }
+     888             : 
+     889             : //}
+     890             : 
+     891             : /* //{ changeState() */
+     892             : 
+     893           4 : void LineTracker::changeState(States_t new_state) {
+     894             : 
+     895           4 :   changeStateVertical(new_state);
+     896           4 :   changeStateHorizontal(new_state);
+     897           4 : }
+     898             : 
+     899             : //}
+     900             : 
+     901             : // | --------------------- motion routines -------------------- |
+     902             : 
+     903             : /* //{ stopHorizontalMotion() */
+     904             : 
+     905          14 : void LineTracker::stopHorizontalMotion(void) {
+     906             : 
+     907             :   {
+     908          28 :     std::scoped_lock lock(mutex_state_);
+     909             : 
+     910          14 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     911             : 
+     912          14 :     if (current_horizontal_speed_ < 0) {
+     913          14 :       current_horizontal_speed_        = 0;
+     914          14 :       current_horizontal_acceleration_ = 0;
+     915             :     } else {
+     916           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     917             :     }
+     918             :   }
+     919          14 : }
+     920             : 
+     921             : //}
+     922             : 
+     923             : /* //{ stopVerticalMotion() */
+     924             : 
+     925          14 : void LineTracker::stopVerticalMotion(void) {
+     926             : 
+     927             :   {
+     928          28 :     std::scoped_lock lock(mutex_state_);
+     929             : 
+     930          14 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     931             : 
+     932          14 :     if (current_vertical_speed_ < 0) {
+     933           1 :       current_vertical_speed_        = 0;
+     934           1 :       current_vertical_acceleration_ = 0;
+     935             :     } else {
+     936          13 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     937             :     }
+     938             :   }
+     939          14 : }
+     940             : 
+     941             : //}
+     942             : 
+     943             : /* //{ accelerateHorizontal() */
+     944             : 
+     945        1004 : void LineTracker::accelerateHorizontal(void) {
+     946             : 
+     947             :   // copy member variables
+     948        1004 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     949        1004 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     950             : 
+     951             :   {
+     952        1004 :     std::scoped_lock lock(mutex_state_);
+     953             : 
+     954        1004 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     955             :   }
+     956             : 
+     957        1004 :   auto current_heading = mrs_lib::get_mutexed(mutex_state_, current_heading_);
+     958             : 
+     959             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     960             : 
+     961        1004 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     962        1004 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     963        1004 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     964        1004 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     965             : 
+     966             :   {
+     967        2008 :     std::scoped_lock lock(mutex_state_);
+     968             : 
+     969        1004 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     970             : 
+     971        1004 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     972         905 :       current_horizontal_speed_        = _horizontal_speed_;
+     973         905 :       current_horizontal_acceleration_ = 0;
+     974             :     } else {
+     975          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     976             :     }
+     977             :   }
+     978             : 
+     979        1004 :   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_))) {
+     980             : 
+     981             :     {
+     982           1 :       std::scoped_lock lock(mutex_state_);
+     983             : 
+     984           1 :       current_horizontal_acceleration_ = 0;
+     985             :     }
+     986             : 
+     987           1 :     changeStateHorizontal(DECELERATING_STATE);
+     988             :   }
+     989        1004 : }
+     990             : 
+     991             : //}
+     992             : 
+     993             : /* //{ accelerateVertical() */
+     994             : 
+     995         199 : void LineTracker::accelerateVertical(void) {
+     996             : 
+     997         199 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     998         199 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     999             : 
+    1000             :   // set the right heading
+    1001         199 :   double tar_z = goal_z - state_z;
+    1002             : 
+    1003             :   // set the right vertical direction
+    1004             :   {
+    1005         199 :     std::scoped_lock lock(mutex_state_);
+    1006             : 
+    1007         199 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1008             :   }
+    1009             : 
+    1010         199 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+    1011             : 
+    1012             :   // calculate the time to stop and the distance it will take to stop [vertical]
+    1013         199 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1014         199 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1015         199 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1016             : 
+    1017             :   {
+    1018         398 :     std::scoped_lock lock(mutex_state_);
+    1019             : 
+    1020         199 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1021             : 
+    1022         199 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1023         100 :       current_vertical_speed_        = _vertical_speed_;
+    1024         100 :       current_vertical_acceleration_ = 0;
+    1025             :     } else {
+    1026          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1027             :     }
+    1028             :   }
+    1029             : 
+    1030         199 :   if (fabs(state_z + stop_dist_z - goal_z) < (2 * (_vertical_speed_ * _tracker_dt_))) {
+    1031             : 
+    1032             :     {
+    1033           1 :       std::scoped_lock lock(mutex_state_);
+    1034             : 
+    1035           1 :       current_vertical_acceleration_ = 0;
+    1036             :     }
+    1037             : 
+    1038           1 :     changeStateVertical(DECELERATING_STATE);
+    1039             :   }
+    1040         199 : }
+    1041             : 
+    1042             : //}
+    1043             : 
+    1044             : /* //{ decelerateHorizontal() */
+    1045             : 
+    1046         100 : void LineTracker::decelerateHorizontal(void) {
+    1047             : 
+    1048             :   {
+    1049         200 :     std::scoped_lock lock(mutex_state_);
+    1050             : 
+    1051         100 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+    1052             : 
+    1053         100 :     if (current_horizontal_speed_ < 0) {
+    1054           1 :       current_horizontal_speed_ = 0;
+    1055             :     } else {
+    1056          99 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+    1057             :     }
+    1058             :   }
+    1059             : 
+    1060         100 :   auto current_horizontal_speed = mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_);
+    1061             : 
+    1062         100 :   if (current_horizontal_speed == 0) {
+    1063             : 
+    1064             :     {
+    1065           1 :       std::scoped_lock lock(mutex_state_);
+    1066             : 
+    1067           1 :       current_horizontal_acceleration_ = 0;
+    1068             :     }
+    1069             : 
+    1070           1 :     changeStateHorizontal(STOPPING_STATE);
+    1071             :   }
+    1072         100 : }
+    1073             : 
+    1074             : //}
+    1075             : 
+    1076             : /* //{ decelerateVertical() */
+    1077             : 
+    1078         100 : void LineTracker::decelerateVertical(void) {
+    1079             : 
+    1080             :   {
+    1081         200 :     std::scoped_lock lock(mutex_state_);
+    1082             : 
+    1083         100 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1084             : 
+    1085         100 :     if (current_vertical_speed_ < 0) {
+    1086           1 :       current_vertical_speed_ = 0;
+    1087             :     } else {
+    1088          99 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+    1089             :     }
+    1090             :   }
+    1091             : 
+    1092         100 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1093             : 
+    1094         100 :   if (current_vertical_speed == 0) {
+    1095           1 :     current_vertical_acceleration_ = 0;
+    1096           1 :     changeStateVertical(STOPPING_STATE);
+    1097             :   }
+    1098         100 : }
+    1099             : 
+    1100             : //}
+    1101             : 
+    1102             : /* //{ stopHorizontal() */
+    1103             : 
+    1104          46 : void LineTracker::stopHorizontal(void) {
+    1105             : 
+    1106             :   {
+    1107          46 :     std::scoped_lock lock(mutex_state_);
+    1108             : 
+    1109          46 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1110          46 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1111          46 :     current_horizontal_acceleration_ = 0;
+    1112             :   }
+    1113          46 : }
+    1114             : 
+    1115             : //}
+    1116             : 
+    1117             : /* //{ stopVertical() */
+    1118             : 
+    1119         851 : void LineTracker::stopVertical(void) {
+    1120             : 
+    1121             :   {
+    1122         851 :     std::scoped_lock lock(mutex_state_);
+    1123             : 
+    1124         851 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1125         851 :     current_vertical_acceleration_ = 0;
+    1126             :   }
+    1127         851 : }
+    1128             : 
+    1129             : //}
+    1130             : 
+    1131             : // | ------------------------- timers ------------------------- |
+    1132             : 
+    1133             : /* //{ mainTimer() */
+    1134             : 
+    1135        2212 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1136             : 
+    1137        2212 :   if (!is_active_) {
+    1138         422 :     return;
+    1139             :   }
+    1140             : 
+    1141        5370 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1142        5370 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1143             : 
+    1144        1790 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1145        1790 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1146             : 
+    1147        1790 :   switch (current_state_horizontal_) {
+    1148             : 
+    1149         626 :     case IDLE_STATE:
+    1150             : 
+    1151         626 :       break;
+    1152             : 
+    1153          14 :     case STOP_MOTION_STATE:
+    1154             : 
+    1155          14 :       stopHorizontalMotion();
+    1156             : 
+    1157          14 :       break;
+    1158             : 
+    1159        1004 :     case ACCELERATING_STATE:
+    1160             : 
+    1161        1004 :       accelerateHorizontal();
+    1162             : 
+    1163        1004 :       break;
+    1164             : 
+    1165         100 :     case DECELERATING_STATE:
+    1166             : 
+    1167         100 :       decelerateHorizontal();
+    1168             : 
+    1169         100 :       break;
+    1170             : 
+    1171          46 :     case STOPPING_STATE:
+    1172             : 
+    1173          46 :       stopHorizontal();
+    1174             : 
+    1175          46 :       break;
+    1176             :   }
+    1177             : 
+    1178        1790 :   switch (current_state_vertical_) {
+    1179             : 
+    1180         626 :     case IDLE_STATE:
+    1181             : 
+    1182         626 :       break;
+    1183             : 
+    1184          14 :     case STOP_MOTION_STATE:
+    1185             : 
+    1186          14 :       stopVerticalMotion();
+    1187             : 
+    1188          14 :       break;
+    1189             : 
+    1190         199 :     case ACCELERATING_STATE:
+    1191             : 
+    1192         199 :       accelerateVertical();
+    1193             : 
+    1194         199 :       break;
+    1195             : 
+    1196         100 :     case DECELERATING_STATE:
+    1197             : 
+    1198         100 :       decelerateVertical();
+    1199             : 
+    1200         100 :       break;
+    1201             : 
+    1202         851 :     case STOPPING_STATE:
+    1203             : 
+    1204         851 :       stopVertical();
+    1205             : 
+    1206         851 :       break;
+    1207             :   }
+    1208             : 
+    1209        1790 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1210          14 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1211           1 :       if (have_goal_) {
+    1212           1 :         changeState(ACCELERATING_STATE);
+    1213             :       } else {
+    1214           0 :         changeState(STOPPING_STATE);
+    1215             :       }
+    1216             :     }
+    1217             :   }
+    1218             : 
+    1219        1790 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1220          47 :     if (fabs(state_x - goal_x) < 1e-3 && fabs(state_y - goal_y) < 1e-3 && fabs(state_z - goal_z) < 1e-3) {
+    1221             : 
+    1222             :       {
+    1223           1 :         std::scoped_lock lock(mutex_state_);
+    1224             : 
+    1225           1 :         state_x_ = goal_x;
+    1226           1 :         state_y_ = goal_y;
+    1227           1 :         state_z_ = goal_z;
+    1228             :       }
+    1229             : 
+    1230           1 :       changeState(IDLE_STATE);
+    1231             : 
+    1232           1 :       have_goal_ = false;
+    1233             :     }
+    1234             :   }
+    1235             : 
+    1236             :   {
+    1237        1790 :     std::scoped_lock lock(mutex_state_);
+    1238             : 
+    1239        1790 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1240        1790 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1241        1790 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1242             :   }
+    1243             : 
+    1244             :   // --------------------------------------------------------------
+    1245             :   // |                        heading tracking                        |
+    1246             :   // --------------------------------------------------------------
+    1247             : 
+    1248             :   {
+    1249        3580 :     std::scoped_lock lock(mutex_state_);
+    1250             : 
+    1251             :     // compute the desired heading rate
+    1252             :     double current_heading_rate;
+    1253        1790 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1254           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1255             :     else
+    1256        1790 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1257             : 
+    1258        1790 :     if (current_heading_rate > _heading_rate_) {
+    1259          50 :       current_heading_rate = _heading_rate_;
+    1260        1740 :     } else if (current_heading_rate < -_heading_rate_) {
+    1261           0 :       current_heading_rate = -_heading_rate_;
+    1262             :     }
+    1263             : 
+    1264             :     // flap the resulted state_heading_ aroud PI
+    1265        1790 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1266             : 
+    1267        1790 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1268        1351 :       state_heading_ = goal_heading_;
+    1269             :     }
+    1270             :   }
+    1271             : }
+    1272             : 
+    1273             : //}
+    1274             : 
+    1275             : }  // namespace line_tracker
+    1276             : 
+    1277             : }  // namespace mrs_uav_trackers
+    1278             : 
+    1279             : #include <pluginlib/class_list_macros.h>
+    1280           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..dc4ff7fc08b89fba274f32ce246af423c75f8353 GIT binary patch literal 3802 zcmV<04khu4P)NhItaBps9R`vP`98v(EV@a+U5rdB#_T&=T6?cGwK{65FiQp^m3i9*X#WL z@6xNh=^aF`C6WPHgsNG)GIynzp@x9EIx=J%C`y4js-i*&(@3?s#ZrpXQOT(v;lpDN zqP=L2k-DqU7c2DK&08(SsqC?0ppx}G75&CFbwAz%+S(ap$@{uiU$Kco^ez=rOLkZ`_46`f5TXM_RYjwwQ*rx3p^ z0$mMM!lV=(1t1LzJiwrRvcM|>w$?GCSmQLX%;0BMm^pnb0!~ukjuZfATSvLjQgmRT z(5ZxCrr7G0fwNBP3-rplO9uh8->JJf1fu$am_7jXVvRc#|7{A* zL&7~B(NtGhN6{c|08m_v{>*SQ+X`1{7!1G?>k!kYEO!TdBl19T0rqIJPHr0AWRK9s z?MN}LYz&;Gz^fQIw}y>0FT@Z`l3W~PWITgwxPtq% zOmP^nkBL>W76bd&u}JcobX`4JXX(YP+l?|2hLfHEwzHOw_oNh~xk9Yh`nf`JF6;m3 zxzXdzo&#`8alo?61f&i>rg}9_K4aFYjm33U* zPglEYitiWen(viH0T2C@fWmT~Is(HI0k3UlHrpNS_$l@#AT^LQG+dgeSQ z^1{75%okr2@ZmwoMF)G~ZWVrGSPr+?W?qR9WZPP)$B@zNX6n)@;!=ps!El9+eYu-3 zTWlY1JvJCW+zZ-zK4cWq23fqnuF(suH-)Ob!&;kKA}zJx20YX&kT=^=xRCxNBf-O4Kve1O0~%7|)U* z@c4V6_;9bE`xn&01ns5$EXf-3HgDe_yfs|S+BOlVZe625G?8khK6Po!Tp!P-$jvi5o0)&$#7=n%Uey29z%_v&hQOn+@4xJaG1J zH#7M7yir`-%>ZWK7u-QJD=CW0NAo?--)&RSEzkm_4Xq}cIf2)Glbc&--vY3^^@ROq z#X3rbdC!D+-$OuLw#^Q&8(2paS)hiZci@arr&^!sw?G5($98nqJleCP)zXTgmZBd$ zy3u$F6lS>w>wjkCS($A8ihX!v^+(`*N)`BYZ2KC!&tUVm<0GKVIo%u>0iW4 z7>)IA$3r9`}gLuyIev`yX#<*{C;#xk8w<$ytM?Cja$h5pP5DnT_2`vX<)z zXCE!OlrEFpm7L=xz$HrS(X9Ieb;1;9&SUaDv)OIpd}5yr*mT=u?oZkGp@fZTg*93u z%qrM~I4b>sEUo9ZZ?Kq}W)+Yz@XL@tl?qM$*8?&4mX~Nb~$U0Ba zE2;LB1}|94InAAH>oI?}bAiB91%PfbASBB`Y9aaL@v2+}c;=?|AnUR3dgXy~)@E-# zNVJp5HVPrthkUg{m_hj- ztKe+Qcwo;3F=}si{MlI&Lt$G&m;8_{_PlChPnJJE$mK)8mmlNifWm^W`kSxtE=}`MRa@@^ z!}1#Y7~soow&>9phB3th{(iioDS?)v9g)8H1HpeI(gH;jkvcxpN;V>W4w(&$75>2! z5Dgnxf*Px&W)BSk8-70HndUR;8z_p$d$!?+^sXN}AVRbZX_GZA^NjWa;diKI!k?n1 zd^|kxP&=dnUqjXc;E>BUR9^Uh9S|94W|5VlH%}^Mm%cr0?i-B4y_@6b?+i4G_DzVy zodxnHH2z*Xy}@UB2;!foT06yl%X&c}+J0=&l*HIn2rL=p^sSYumWnX$RZ>K2<6K zym9-Lw@TJDXZM$AzZu)^s=INV8skkVF>uhP*wVG7-X1r29}Opru#RwF3Z*~y;$-_$ zdYv0!LP~NiTYX3&qKO46D7t;$>7fE(!#}gHxpg=9Vrk@Wi5dpHG0_CHvVliTEhR9we1Ozjz?h;5>2vpZ!H@d=2`AThd~6mo=FXg*qh+ACCQk=#?iG5Br04*U9?(7Cp;LJ9=wPyX7AlIkTifWv z%gHs&3-e$t%@xO@+pHJ*a#i%!4v_laM|ut~gg)0J??U-Y_R?Jf^> zW84kh;W;J~w_@HxiOgKryub5Fz`eeJB1CRh;bNdzJ>Otv zrf~-hxxm{M1BoFQA=ZE)7fCU$%rd0=P+0gH)$RD@o(kfBDa=e-$wg>q8l#Xmp;Q>D z9?3;^YJEl;NKZEc_|j3c>1VJu(++3F9Xsu>hbt(b#_G@iIjiq?Sz)SJ&$*88 zTY81)S`Y*rIrvC<11WV1zlPI&v&%6~_Ik6)9TvfNXh6Prh=Eu4LIvX+{ULC#N%D*c z-&p4xDh!!vat}TwXPT5yKR?q17u0;gPyr1T)?k_T)k%j6d=pBAk?N5gDp0I{?NH%c zlLcQA_CA}GrY@7Sz+Mxda5>foqgkAPOsahR)ZRuGzMjiy3Z?$0`1skW6j{e#8y~-P zD)lY#@uLe6TzEXkx`Mdi_{fIG>iEcp$7Ei}4b2E3Yi7SRQgl0VlIBC&r2crMfFJFX zWcS>&kY3RO%Le&d&8*)sgyh6QqtxGIX0-8WqS^1V9(-&VEy%U)YU+4jGqy+g^z_k-d^ zyk-k`t>ZO4vpFj%ip%HP+DbF|D?RngqS}Y=3a!WWslSQ zqJCzfo|5Iw%-2PCz0sPIOnXt9H66n@&SmgJ+i3Nq9j@X4oxFrI%RVPhrRBrzPg^Q| zq@D_egQoK@!KSacp*f1ZV|f2q-#;Hd`)A!|owb@`51LmTQFyAiQnAMI51G!nvaP{# QegFUf07*qoM6N<$g4ozo@&Et; literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..a84c6c45b7 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-10-08 22:31:24Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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72.8%72.8%
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<unnamed>72.8 %67 / 9250.0 %9 / 18
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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:2024-10-08 22:31:24Functions: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
<unnamed>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:2024-10-08 22:31:24Functions: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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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:2024-10-08 22:31:24Functions: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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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:2024-10-08 22:31:24Functions: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..70d190f667 --- /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 + + + + + + + + + + + + + + +
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:2024-10-08 22:31:24Functions: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&)6
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()59
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)160
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()180
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
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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..72386433d7 --- /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:2024-10-08 22:31:24Functions: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()108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()180
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>)108
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&)380
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)6
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&)139435
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)160
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()59
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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:2024-10-08 22:31:24Functions: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         108 : 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         108 :   this->common_handlers_  = common_handlers;
+      81         108 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83         108 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85         108 :   nh_ = nh;
+      86             : 
+      87         108 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99         108 :   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         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         216 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111         108 :   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         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122         108 :   is_initialized_ = true;
+     123             : 
+     124         108 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126         108 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133         160 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135         160 :   std::stringstream ss;
+     136             : 
+     137         160 :   is_active_ = true;
+     138             : 
+     139         160 :   ss << "activated";
+     140         160 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         320 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149         180 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151         180 :   is_active_ = false;
+     152             : 
+     153         180 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154         180 : }
+     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      139435 : 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      139435 :   if (!is_active_) {
+     174      138956 :     return {};
+     175             :   }
+     176             : 
+     177        1437 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179        1437 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         958 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         479 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         479 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         479 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         479 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         479 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         479 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         479 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         479 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         479 :     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         479 :   tracker_cmd.use_position_vertical   = true;
+     203         479 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         479 :   tracker_cmd.use_velocity_vertical   = true;
+     206         479 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         479 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         479 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         479 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          59 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          59 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          59 :   tracker_status.active            = is_active_;
+     224          59 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          59 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         309 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         618 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         309 :   res.message = "callbacks are always disabled";
+     238         309 :   res.success = true;
+     239             : 
+     240         618 :   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         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         760 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         380 :   res.success = true;
+     303         380 :   res.message = "constraints updated";
+     304             : 
+     305         760 :   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           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           6 :   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         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
+
+
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-10-08 22:31:24Functions:455090.0 %
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mpc_tracker.cpp +
82.9%82.9%
+ 		82.9 %1395 / 168290.0 %45 / 50
<unnamed>82.9 %1395 / 168290.0 %45 / 50
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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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:1395168282.9 %
Date:2024-10-08 22:31:24Functions:455090.0 %
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::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)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::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()40
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)99
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)108
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)268
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)270
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)327
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)341
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)426
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)696
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)822
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)825
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)828
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1326
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)2126
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2179
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)4439
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9376
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)15605
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22404
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()23974
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()24982
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)81017
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82517
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83565
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83565
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)83565
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83565
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83565
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)189760
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)189760
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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:1395168282.9 %
Date:2024-10-08 22:31:24Functions:455090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()40
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>)108
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)327
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1326
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83565
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)81017
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)268
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)189760
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)828
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
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&)2179
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)426
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83565
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22404
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)83565
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83565
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()23974
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&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)822
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)825
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)189760
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()24982
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)696
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)4439
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)341
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)108
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)2126
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82517
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)15605
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&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)270
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)99
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83565
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9376
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Generated by: LCOV version 1.14
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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:1395168282.9 %
Date:2024-10-08 22:31:24Functions:455090.0 %
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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             : #define MPC_N_STATES 12
+      45             : #define MPC_N_INPUTS 3
+      46             : 
+      47             : #define MPC_HEADING_N_STATES 4
+      48             : #define MPC_HEADING_N_INPUTS 1
+      49             : 
+      50             : #define MPC_HORIZON_LENGTH 40
+      51             : 
+      52             : //}
+      53             : 
+      54             : /* using //{ */
+      55             : 
+      56             : using namespace Eigen;
+      57             : 
+      58             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      59             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      60             : 
+      61             : using radians  = mrs_lib::geometry::radians;
+      62             : using sradians = mrs_lib::geometry::sradians;
+      63             : 
+      64             : using quat_t = Eigen::Quaterniond;
+      65             : 
+      66             : //}
+      67             : 
+      68             : namespace mrs_uav_trackers
+      69             : {
+      70             : 
+      71             : namespace mpc_tracker
+      72             : {
+      73             : 
+      74             : /* //{ class MpcTracker */
+      75             : 
+      76             : class MpcTracker : public mrs_uav_managers::Tracker {
+      77             : public:
+      78             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      79             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      80             : 
+      81             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      82             :   void                          deactivate(void);
+      83             :   bool                          resetStatic(void);
+      84             : 
+      85             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      86             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      87             :   const mrs_msgs::TrackerStatus             getStatus();
+      88             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      89             : 
+      90             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      91             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      92             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      93             : 
+      94             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      95             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      96             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      97             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      98             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      99             : 
+     100             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+     101             : 
+     102             : private:
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+     106             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+     107             : 
+     108             :   std::atomic<bool> callbacks_enabled_ = true;
+     109             : 
+     110             :   std::string _uav_name_;
+     111             : 
+     112             :   // debugging publishers
+     113             :   mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics> pub_diagnostics_;
+     114             :   mrs_lib::PublisherHandler<std_msgs::String>                pub_status_string_;
+     115             : 
+     116             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_processed_trajectory_poses_;
+     117             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_processed_trajectory_markers_;
+     118             : 
+     119             :   mrs_msgs::UavState uav_state_;
+     120             :   std::mutex         mutex_uav_state_;
+     121             : 
+     122             :   ros::Time time_last_update_;
+     123             : 
+     124             :   bool is_active_      = false;
+     125             :   bool is_initialized_ = false;
+     126             : 
+     127             :   // | ----------------------- constraints ---------------------- |
+     128             : 
+     129             :   mrs_msgs::DynamicsConstraints constraints_;
+     130             :   std::mutex                    mutex_constraints_;
+     131             : 
+     132             :   mrs_msgs::DynamicsConstraints constraints_filtered_;
+     133             :   std::mutex                    mutex_constraints_filtered_;
+     134             : 
+     135             :   std::atomic<bool> got_constraints_     = false;
+     136             :   std::atomic<bool> all_constraints_set_ = false;
+     137             : 
+     138             :   double _diag_pos_tracking_thr_;
+     139             :   double _diag_heading_tracking_thr_;
+     140             : 
+     141             :   double _mpc_synchronous_rate_limit_;
+     142             :   double _mpc_asynchronous_rate_;
+     143             : 
+     144             :   double update_rate_ = 100.0;
+     145             : 
+     146             :   double     dt1_;
+     147             :   std::mutex mutex_dt1_;
+     148             : 
+     149             :   double _dt2_;
+     150             : 
+     151             :   MatrixXd          _mat_A_;  // system matrix for virtual UAV
+     152             :   MatrixXd          _mat_B_;  // input matrix for virtual UAV
+     153             :   MatrixXd          A_;       // system matrix for virtual UAV
+     154             :   MatrixXd          B_;       // input matrix for virtual UAV
+     155             :   std::atomic<bool> model_first_iteration_ = true;
+     156             :   ros::Time         model_iteration_last_time_;
+     157             : 
+     158             :   MatrixXd _mat_A_heading_;  // system matrix for heading
+     159             :   MatrixXd _mat_B_heading_;  // input matrix for heading
+     160             :   MatrixXd A_heading_;       // system matrix for heading
+     161             :   MatrixXd B_heading_;       // input matrix for heading
+     162             : 
+     163             :   // the reference over the prediction horizon per axis
+     164             :   MatrixXd   des_x_trajectory_;
+     165             :   MatrixXd   des_y_trajectory_;
+     166             :   MatrixXd   des_z_trajectory_;
+     167             :   MatrixXd   des_heading_trajectory_;
+     168             :   std::mutex mutex_des_trajectory_;
+     169             : 
+     170             :   // the reference filtered over the prediction horizon per axis
+     171             :   MatrixXd des_z_filtered_offset_;
+     172             : 
+     173             :   // the whole trajectory reference split per axis
+     174             :   std::shared_ptr<VectorXd> des_x_whole_trajectory_;
+     175             :   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
+     176             :   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
+     177             :   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
+     178             :   int                       des_whole_trajectory_id_ = 0;
+     179             :   std::mutex                mutex_des_whole_trajectory_;
+     180             : 
+     181             :   int  getCurrentTrajectoryIdx();
+     182             :   void increaseCurrentTrajectoryTime(const double dt);
+     183             : 
+     184             :   // trajectory tracking
+     185             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     186             :   double            trajectory_current_time_;
+     187             :   std::mutex        mutex_trajectory_tracking_states_;
+     188             : 
+     189             :   // params of the loaded trajectory
+     190             :   int    trajectory_size_          = 0;
+     191             :   double trajectory_dt_            = 0.2;
+     192             :   bool   trajectory_track_heading_ = false;
+     193             :   bool   trajectory_tracking_loop_ = false;
+     194             :   bool   trajectory_set_           = false;
+     195             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     196             : 
+     197             :   // mpc output
+     198             :   VectorXd   mpc_u_;
+     199             :   double     mpc_u_heading_;
+     200             :   std::mutex mutex_mpc_u_;
+     201             : 
+     202             :   // current state of the dynamical system
+     203             :   MatrixXd   mpc_x_;          // translation state
+     204             :   MatrixXd   mpc_x_heading_;  // heading state
+     205             :   std::mutex mutex_mpc_x_;
+     206             : 
+     207             :   // odometry reset
+     208             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     209             :   std::atomic<bool> mpc_result_invalid_         = false;
+     210             : 
+     211             :   // predicting the future
+     212             :   MatrixXd   predicted_trajectory_;
+     213             :   MatrixXd   predicted_heading_trajectory_;
+     214             :   std::mutex mutex_predicted_trajectory_;
+     215             : 
+     216             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     217             :   std::mutex                       mutex_prediction_full_state_;
+     218             : 
+     219             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     220             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     221             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     222             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_first_reference_point_;
+     223             : 
+     224             :   std::atomic<bool> mpc_computed_ = false;
+     225             : 
+     226             :   bool brake_ = false;
+     227             : 
+     228             :   // | ----------------------- MPC solver ----------------------- |
+     229             : 
+     230             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     231             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     232             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     233             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     234             : 
+     235             :   std::mutex mutex_mpc_calculation_;
+     236             : 
+     237             :   int _max_iters_xy_;
+     238             :   int _max_iters_z_;
+     239             :   int _max_iters_heading_;
+     240             : 
+     241             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     242             : 
+     243             :   double mpc_rtf_ = 0.0;
+     244             : 
+     245             :   // | ------------------- collision avoidance ------------------ |
+     246             : 
+     247             :   // configurable params
+     248             :   bool collision_avoidance_enabled_           = false;
+     249             :   bool collision_avoidance_enabled_passively_ = true;
+     250             : 
+     251             :   // TODO what is this?
+     252             :   double    coef_scaler = 0;
+     253             :   ros::Time coef_time;
+     254             : 
+     255             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     256             : 
+     257             :   // params
+     258             :   double                   _avoidance_trajectory_rate_;
+     259             :   double                   _avoidance_radius_threshold_;
+     260             :   double                   _avoidance_z_correction_;
+     261             :   std::string              _avoidance_diagnostics_topic_name_;
+     262             :   std::vector<std::string> _avoidance_other_uav_names_;
+     263             :   double                   _avoidance_z_threshold_;
+     264             : 
+     265             :   // how old can the other UAV trajectory be (since receive time)
+     266             :   double _collision_trajectory_timeout_;
+     267             : 
+     268             :   // when collision detected, slow down during the manouver
+     269             :   double _avoidance_collision_horizontal_speed_coef_;
+     270             : 
+     271             :   // when collision detected, slow down fully this number of steps before it
+     272             :   int _avoidance_collision_slow_down_fully_;
+     273             : 
+     274             :   // when collision detected, start slowing down this number of steps before it
+     275             :   int _avoidance_collision_slow_down_;
+     276             : 
+     277             :   // when avoiding, start climbing this number of steps before it
+     278             :   int _avoidance_collision_start_climbing_;
+     279             : 
+     280             :   int avoidance_this_uav_number_;
+     281             :   int avoidance_this_uav_priority_;
+     282             : 
+     283             :   double            collision_free_altitude_;
+     284             :   std::atomic<bool> avoiding_collision_               = false;
+     285             :   bool              collision_avoidance_affecting_me_ = false;
+     286             : 
+     287             :   // avoidance trajectory will not be published unless we computed it at least once
+     288             :   std::atomic<bool> future_was_predicted_ = false;
+     289             : 
+     290             :   // subscribing to the other UAV future trajectories
+     291             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     292             : 
+     293             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     294             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     295             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     296             : 
+     297             :   // subscribing to the other UAV diagnostics'
+     298             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     299             : 
+     300             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     301             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     302             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     303             : 
+     304             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     305             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     306             : 
+     307             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     308             : 
+     309             :   ros::ServiceServer service_server_toggle_avoidance_;
+     310             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     311             : 
+     312             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     313             : 
+     314             :   // | --------------------- MPC calculation -------------------- |
+     315             : 
+     316             :   ros::Timer        timer_mpc_iteration_;
+     317             :   std::atomic<bool> mpc_synchronous_ = false;
+     318             :   ros::TimerEvent   synchronous_timer_event_;
+     319             : 
+     320             :   std::atomic<bool> mpc_timer_running_ = false;
+     321             :   void              timerMPC(const ros::TimerEvent& event);
+     322             : 
+     323             :   // | -------------------- velocity tracking ------------------- |
+     324             : 
+     325             :   ros::Timer                  timer_velocity_tracking_;
+     326             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     327             :   ros::Time                   velocity_reference_time_;
+     328             :   mrs_msgs::VelocityReference velocity_reference_;
+     329             :   std::mutex                  mutex_velocity_reference_;
+     330             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     331             : 
+     332             :   // | ------------------ avoidance trajectory ------------------ |
+     333             : 
+     334             :   ros::Timer timer_avoidance_trajectory_;
+     335             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     336             : 
+     337             :   // | ----------------------- diagnostics ---------------------- |
+     338             : 
+     339             :   ros::Timer timer_diagnostics_;
+     340             :   double     _diagnostics_rate_;
+     341             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     342             : 
+     343             :   // | ------------------------ hovering ------------------------ |
+     344             : 
+     345             :   ros::Timer        timer_hover_;
+     346             :   void              timerHover(const ros::TimerEvent& event);
+     347             :   std::atomic<bool> hovering_in_progress_ = false;
+     348             :   void              toggleHover(bool in);
+     349             : 
+     350             :   // | ------------------- trajectory tracking ------------------ |
+     351             : 
+     352             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     353             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     354             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     355             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     356             : 
+     357             :   // | --------------------- other routines --------------------- |
+     358             : 
+     359             :   void publishDiagnostics();
+     360             : 
+     361             :   void debugPrintState(const double throttle);
+     362             :   void debugPrintMPCResult(const double throttle);
+     363             : 
+     364             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     365             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     366             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     367             : 
+     368             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     369             : 
+     370             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     371             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     372             : 
+     373             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     374             : 
+     375             :   void manageConstraints(void);
+     376             :   void calculateMPC(void);
+     377             :   void iterateModel(const double& dt);
+     378             : 
+     379             :   // | ------------------------ profiler ------------------------ |
+     380             : 
+     381             :   mrs_lib::Profiler profiler;
+     382             :   bool              _profiler_enabled_ = false;
+     383             : 
+     384             :   // | ------------------------- wiggle ------------------------- |
+     385             : 
+     386             :   ros::ServiceServer service_server_wiggle_;
+     387             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     388             : 
+     389             :   double wiggle_phase_ = 0;
+     390             : 
+     391             :   // | --------------- dynamic reconfigure server --------------- |
+     392             : 
+     393             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     394             : 
+     395             :   boost::recursive_mutex                      config_mutex_;
+     396             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     397             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     398             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     399             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     400             :   std::mutex                                  mutex_drs_params_;
+     401             : };
+     402             : 
+     403             : //}
+     404             : 
+     405             : // | -------------- tracker's interface routines -------------- |
+     406             : 
+     407             : /* //{ initialize() */
+     408             : 
+     409         108 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     410             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     411             : 
+     412         108 :   nh_ = nh;
+     413             : 
+     414         108 :   common_handlers_  = common_handlers;
+     415         108 :   private_handlers_ = private_handlers;
+     416             : 
+     417         108 :   _uav_name_ = common_handlers->uav_name;
+     418             : 
+     419         108 :   ros::Time::waitForValid();
+     420             : 
+     421         108 :   time_last_update_ = ros::Time(0);
+     422             : 
+     423             :   // --------------------------------------------------------------
+     424             :   // |                     loading parameters                     |
+     425             :   // --------------------------------------------------------------
+     426             : 
+     427             :   // | ---------- loading params using the parent's nh ---------- |
+     428             : 
+     429         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     430             : 
+     431         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     432             : 
+     433         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     434           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     435           0 :     return false;
+     436             :   }
+     437             : 
+     438             :   // | --------------- loading plugin's parameters -------------- |
+     439             : 
+     440         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     441         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     442             : 
+     443         216 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     444             : 
+     445         108 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     446             : 
+     447         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     448         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     449             : 
+     450         108 :   if (_mpc_asynchronous_rate_ < 15) {
+     451           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     452           0 :     return false;
+     453             :   }
+     454             : 
+     455         108 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     456             : 
+     457         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     458         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     459         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     460             : 
+     461         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/A", _mat_A_, MPC_N_STATES, MPC_N_STATES);
+     462         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/B", _mat_B_, MPC_N_STATES, MPC_N_INPUTS);
+     463             : 
+     464         108 :   A_ = _mat_A_;
+     465         108 :   B_ = _mat_B_;
+     466             : 
+     467         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/A", _mat_A_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_STATES);
+     468         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/B", _mat_B_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_INPUTS);
+     469             : 
+     470         108 :   A_heading_ = _mat_A_heading_;
+     471         108 :   B_heading_ = _mat_B_heading_;
+     472             : 
+     473             :   // load the MPC parameters
+     474         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     475             : 
+     476         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     477         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     478         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     479             : 
+     480         108 :   bool verbose_xy      = false;
+     481         108 :   bool verbose_z       = false;
+     482         108 :   bool verbose_heading = false;
+     483             : 
+     484         216 :   std::vector<double> xy_Q;
+     485         216 :   std::vector<double> z_Q;
+     486         216 :   std::vector<double> heading_Q;
+     487             : 
+     488         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     489         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     490         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     491             : 
+     492         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     493         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     494         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     495             : 
+     496         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     497         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     498         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     499             : 
+     500         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     501         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     502         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     503             : 
+     504         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     505         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     506         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     507         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     508         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     509         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     510         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     511         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     512         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     513         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     514         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     515             : 
+     516         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     517           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     518           0 :     return false;
+     519             :   }
+     520             : 
+     521         108 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     522             : 
+     523         108 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_y", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 1);
+     524         108 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_x", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 0);
+     525         108 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_z", verbose_z, _max_iters_z_, z_Q, dt1_, _dt2_, 2);
+     526             :   mpc_solver_heading_ =
+     527         108 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     528             : 
+     529         108 :   mpc_x_         = MatrixXd::Zero(MPC_N_STATES, 1);
+     530         108 :   mpc_x_heading_ = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     531             : 
+     532         108 :   mpc_u_ = VectorXd::Zero(MPC_N_INPUTS);
+     533             : 
+     534         108 :   coef_time = ros::Time(0);
+     535             : 
+     536         108 :   des_x_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     537         108 :   des_y_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     538         108 :   des_z_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     539         108 :   des_z_filtered_offset_  = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     540         108 :   des_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     541             : 
+     542         108 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     543             : 
+     544         108 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     545         108 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     546             : 
+     547             :   // extract the numerical name
+     548         108 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     549         108 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     550         108 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     551             : 
+     552             :   // exclude this drone from the list
+     553         108 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     554         226 :   while (it != _avoidance_other_uav_names_.end()) {
+     555             : 
+     556         118 :     std::string temp_str = *it;
+     557             : 
+     558             :     int other_uav_priority;
+     559         118 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     560             : 
+     561         118 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     562             : 
+     563         108 :       _avoidance_other_uav_names_.erase(it);
+     564         108 :       continue;
+     565             :     }
+     566             : 
+     567          10 :     it++;
+     568             :   }
+     569             : 
+     570             :   // initialize velocity tracker
+     571             : 
+     572         108 :   velocity_reference_time_ = ros::Time(0);
+     573             : 
+     574             :   // create publishers for predicted trajectory
+     575             : 
+     576         108 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     577         108 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     578         108 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     579         108 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     580         108 :   ph_first_reference_point_          = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "first_reference_point", 1, true);
+     581             : 
+     582         108 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     583         108 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     584             : 
+     585             :   // preallocate predicted trajectory
+     586         108 :   predicted_trajectory_         = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     587         108 :   predicted_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     588             : 
+     589         108 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     590             : 
+     591             :   // collision avoidance toggle service
+     592         108 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     593             : 
+     594         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     595         108 :   shopts.nh                 = nh_;
+     596         108 :   shopts.node_name          = "MpcTracker";
+     597         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     598         108 :   shopts.threadsafe         = true;
+     599         108 :   shopts.autostart          = true;
+     600         108 :   shopts.queue_size         = 10;
+     601         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     602             : 
+     603             :   // create subscribers on other drones diagnostics
+     604         108 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     605             : 
+     606         118 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     607             : 
+     608          30 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_.at(i) + "/control_manager/mpc_tracker/predicted_trajectory";
+     609          20 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_.at(i) + "/control_manager/mpc_tracker/diagnostics";
+     610             : 
+     611          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     612             : 
+     613          10 :       other_uav_trajectory_subscribers_.push_back(
+     614          20 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     615             : 
+     616          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     617             : 
+     618          10 :       other_uav_diag_subscribers_.push_back(
+     619          20 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     620             :     }
+     621             :   }
+     622             : 
+     623         108 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     624             : 
+     625             :   // | --------------- dynamic reconfigure server --------------- |
+     626             : 
+     627         108 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     628         108 :   reconfigure_server_->updateConfig(drs_params_);
+     629         108 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     630         108 :   reconfigure_server_->setCallback(f);
+     631             : 
+     632             :   // | ------------------------ profiler ------------------------ |
+     633             : 
+     634         108 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     635             : 
+     636             :   // | ------------------------- timers ------------------------- |
+     637             : 
+     638         216 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     639         216 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     640         108 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     641         108 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     642         108 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     643         108 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     644             : 
+     645             :   // | ----------------------- finish init ---------------------- |
+     646             : 
+     647         108 :   is_initialized_ = true;
+     648             : 
+     649         108 :   ROS_INFO("[MpcTracker]: initialized");
+     650             : 
+     651         108 :   return true;
+     652             : }
+     653             : 
+     654             : //}
+     655             : 
+     656             : /* //{ activate() */
+     657             : 
+     658          99 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     659             : 
+     660         198 :   std::stringstream ss;
+     661             : 
+     662          99 :   if (!got_constraints_) {
+     663             : 
+     664           0 :     ss << "can not activate, missing constraints";
+     665           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     666             : 
+     667           0 :     return std::tuple(false, ss.str());
+     668             :   }
+     669             : 
+     670         198 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     671             : 
+     672             :   double uav_state_heading;
+     673             : 
+     674             :   try {
+     675          99 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     676             :   }
+     677           0 :   catch (...) {
+     678           0 :     ss << "could not calculate the UAV heading";
+     679           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     680           0 :     return std::tuple(false, ss.str());
+     681             :   }
+     682             : 
+     683         198 :   MatrixXd mpc_x         = MatrixXd::Zero(MPC_N_STATES, 1);
+     684          99 :   MatrixXd mpc_x_heading = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     685             : 
+     686          99 :   if (last_tracker_cmd) {
+     687             : 
+     688             :     // set the initial condition from the last tracker's cmd
+     689             : 
+     690          97 :     if (last_tracker_cmd->use_position_horizontal) {
+     691          97 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     692          97 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     693             :     } else {
+     694           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     695           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     696             :     }
+     697             : 
+     698          97 :     if (last_tracker_cmd->use_position_vertical) {
+     699          97 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     700             :     } else {
+     701           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     702             :     }
+     703             : 
+     704          97 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     705          97 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     706          97 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     707             :     } else {
+     708           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     709           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     710             :     }
+     711             : 
+     712          97 :     if (last_tracker_cmd->use_velocity_vertical) {
+     713          97 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     714             :     } else {
+     715           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     716             :     }
+     717             : 
+     718          97 :     if (last_tracker_cmd->use_acceleration) {
+     719           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     720           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     721           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     722             :     } else {
+     723          97 :       mpc_x(2, 0)  = 0;
+     724          97 :       mpc_x(6, 0)  = 0;
+     725          97 :       mpc_x(10, 0) = 0;
+     726             :     }
+     727             : 
+     728             :     // the jerks
+     729          97 :     mpc_x(3, 0)  = 0;
+     730          97 :     mpc_x(7, 0)  = 0;
+     731          97 :     mpc_x(11, 0) = 0;
+     732             : 
+     733          97 :     if (last_tracker_cmd->use_heading) {
+     734          97 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     735           0 :     } else if (last_tracker_cmd->use_orientation) {
+     736             :       try {
+     737           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     738             :       }
+     739           0 :       catch (...) {
+     740           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     741             :       }
+     742             :     } else {
+     743           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     744             :     }
+     745             : 
+     746          97 :     if (last_tracker_cmd->use_heading_rate) {
+     747          20 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     748             :     } else {
+     749          77 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     750             :     }
+     751             : 
+     752          97 :     mpc_x_heading(2, 0) = 0;
+     753          97 :     mpc_x_heading(3, 0) = 0;
+     754             : 
+     755          97 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     756             : 
+     757             :   } else {
+     758             : 
+     759             :     // set the initial condition completely from the uav_state
+     760             : 
+     761           2 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     762           2 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     763           2 :     mpc_x(2, 0) = 0;
+     764           2 :     mpc_x(3, 0) = 0;
+     765             : 
+     766           2 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     767           2 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     768           2 :     mpc_x(6, 0) = 0;
+     769           2 :     mpc_x(7, 0) = 0;
+     770             : 
+     771           2 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     772           2 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     773           2 :     mpc_x(10, 0) = 0;
+     774           2 :     mpc_x(11, 0) = 0;
+     775             : 
+     776           2 :     mpc_x_heading(0, 0) = uav_state_heading;
+     777           2 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     778           2 :     mpc_x_heading(2, 0) = 0;
+     779           2 :     mpc_x_heading(3, 0) = 0;
+     780             : 
+     781           2 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     782             :   }
+     783             : 
+     784             :   {
+     785         198 :     std::scoped_lock lock(mutex_mpc_x_);
+     786             : 
+     787          99 :     mpc_x_         = mpc_x;
+     788          99 :     mpc_x_heading_ = mpc_x_heading;
+     789             :   }
+     790             : 
+     791          99 :   trajectory_tracking_in_progress_ = false;
+     792             : 
+     793          99 :   ss << "activated";
+     794          99 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     795             : 
+     796             :   // this is here to initialize the desired_trajectory vector
+     797             :   // if deleted (and I tried) the UAV will briefly fly to the
+     798             :   // origin after activation
+     799          99 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     800             : 
+     801          99 :   toggleHover(true);
+     802             : 
+     803          99 :   model_first_iteration_ = true;
+     804             : 
+     805          99 :   A_ = _mat_A_;
+     806          99 :   B_ = _mat_B_;
+     807             : 
+     808          99 :   A_heading_ = _mat_A_heading_;
+     809          99 :   B_heading_ = _mat_B_heading_;
+     810             : 
+     811          99 :   is_active_ = true;
+     812             : 
+     813          99 :   if (!mpc_synchronous_) {
+     814          90 :     timer_mpc_iteration_.start();
+     815             :   }
+     816             : 
+     817          99 :   return std::tuple(true, ss.str());
+     818             : }
+     819             : 
+     820             : //}
+     821             : 
+     822             : /* //{ deactivate() */
+     823             : 
+     824          40 : void MpcTracker::deactivate(void) {
+     825             : 
+     826          40 :   toggleHover(false);
+     827             : 
+     828          40 :   is_active_                       = false;
+     829          40 :   trajectory_tracking_in_progress_ = false;
+     830          40 :   model_first_iteration_           = true;
+     831             : 
+     832          40 :   time_last_update_ = ros::Time(0);
+     833             : 
+     834             :   {
+     835          40 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     836             : 
+     837          40 :     trajectory_current_time_ = 0;
+     838             :   }
+     839             : 
+     840          40 :   ROS_INFO("[MpcTracker]: deactivated");
+     841             : 
+     842          40 :   timer_mpc_iteration_.stop();
+     843             : 
+     844          40 :   publishDiagnostics();
+     845          40 : }
+     846             : 
+     847             : //}
+     848             : 
+     849             : /* //{ resetStatic() */
+     850             : 
+     851           0 : bool MpcTracker::resetStatic(void) {
+     852             : 
+     853           0 :   if (!is_initialized_) {
+     854           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     855           0 :     return false;
+     856             :   }
+     857             : 
+     858           0 :   if (!is_active_) {
+     859           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     860           0 :     return false;
+     861             :   }
+     862             : 
+     863           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     864             : 
+     865             :   double uav_state_heading;
+     866             : 
+     867             :   try {
+     868           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     869             :   }
+     870           0 :   catch (...) {
+     871           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     872           0 :     return false;
+     873             :   }
+     874             : 
+     875             :   {
+     876           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     877             : 
+     878             :     // set the initial condition from the odometry
+     879             : 
+     880           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     881             : 
+     882           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     883           0 :     mpc_x_(1, 0) = 0;
+     884           0 :     mpc_x_(2, 0) = 0;
+     885           0 :     mpc_x_(3, 0) = 0;
+     886             : 
+     887           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     888           0 :     mpc_x_(5, 0) = 0;
+     889           0 :     mpc_x_(6, 0) = 0;
+     890           0 :     mpc_x_(7, 0) = 0;
+     891             : 
+     892           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     893           0 :     mpc_x_(9, 0)  = 0;
+     894           0 :     mpc_x_(10, 0) = 0;
+     895           0 :     mpc_x_(11, 0) = 0;
+     896             : 
+     897           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     898           0 :     mpc_x_heading_(1, 0) = 0;
+     899           0 :     mpc_x_heading_(2, 0) = 0;
+     900           0 :     mpc_x_heading_(3, 0) = 0;
+     901             : 
+     902           0 :     trajectory_tracking_in_progress_ = false;
+     903             : 
+     904           0 :     ROS_INFO("[MpcTracker]: reseted");
+     905             :   }
+     906             : 
+     907             :   // this is here to initialize the desired_trajectory vector
+     908             :   // if deleted (and I tried) the UAV will briefly fly to the
+     909             :   // origin after activation
+     910           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     911             : 
+     912           0 :   return true;
+     913             : }
+     914             : 
+     915             : //}
+     916             : 
+     917             : /* //{ update() */
+     918             : 
+     919      139435 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     920             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     921             : 
+     922      418305 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     923      418305 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     924             : 
+     925      278870 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     926             : 
+     927             :   // save the uav state
+     928      139435 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     929             : 
+     930             :   // the time from the last update call
+     931      139435 :   double dt = 0.01;
+     932             : 
+     933      139435 :   if (time_last_update_.isValid()) {
+     934      139435 :     dt = (ros::Time::now() - time_last_update_).toSec();
+     935             :   }
+     936             : 
+     937      139435 :   time_last_update_ = ros::Time::now();
+     938             : 
+     939      139435 :   if (dt > 0) {
+     940             : 
+     941      139149 :     double rate = 1.0 / dt;
+     942             : 
+     943      139149 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     944             : 
+     945      139149 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     946           0 :       mpc_synchronous_ = false;
+     947           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     948           0 :       if (is_active_) {
+     949           0 :         timer_mpc_iteration_.start();
+     950             :       }
+     951      139149 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     952          14 :       mpc_synchronous_ = true;
+     953          14 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     954          14 :       timer_mpc_iteration_.stop();
+     955             :     }
+     956             :   }
+     957             : 
+     958             :   // up to this part the update() method is evaluated even when the tracker is not active
+     959      139435 :   if (!is_active_) {
+     960       58132 :     return {};
+     961             :   }
+     962             : 
+     963      162606 :   mrs_msgs::TrackerCommand tracker_cmd;
+     964             : 
+     965       81303 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     966             : 
+     967         129 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     968             : 
+     969             :     // set the header
+     970         129 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     971         129 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     972             : 
+     973             :     // set positions from odom
+     974         129 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     975         129 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     976         129 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     977         129 :     tracker_cmd.use_position_vertical   = 1;
+     978         129 :     tracker_cmd.use_position_horizontal = 1;
+     979             : 
+     980             :     // set velocities from odom
+     981         129 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     982         129 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     983         129 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     984         129 :     tracker_cmd.use_velocity_vertical   = 1;
+     985         129 :     tracker_cmd.use_velocity_horizontal = 1;
+     986             : 
+     987             :     // set zero accelerations
+     988         129 :     tracker_cmd.acceleration.x   = 0;
+     989         129 :     tracker_cmd.acceleration.y   = 0;
+     990         129 :     tracker_cmd.acceleration.z   = 0;
+     991         129 :     tracker_cmd.use_acceleration = 1;
+     992             : 
+     993             :     try {
+     994         129 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     995         129 :       tracker_cmd.use_heading = 1;
+     996             :     }
+     997           0 :     catch (...) {
+     998           0 :       tracker_cmd.use_heading = 0;
+     999           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+    1000             :     }
+    1001             : 
+    1002             :     // set zero jerk
+    1003         129 :     tracker_cmd.jerk.x = 0;
+    1004         129 :     tracker_cmd.jerk.y = 0;
+    1005         129 :     tracker_cmd.jerk.z = 0;
+    1006             : 
+    1007             :     try {
+    1008         129 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1009         129 :       tracker_cmd.use_heading_rate = 1;
+    1010             :     }
+    1011           0 :     catch (...) {
+    1012           0 :       tracker_cmd.use_heading_rate = 0;
+    1013           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1014             :     }
+    1015             : 
+    1016         129 :     return {tracker_cmd};
+    1017             :   }
+    1018             : 
+    1019       81174 :   if (mpc_synchronous_) {
+    1020             : 
+    1021        4224 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1022             : 
+    1023        4224 :     if (synchronous_timer_event_.last_real.toSec() > 0) {
+    1024        4210 :       synchronous_timer_event_.last_real = synchronous_timer_event_.current_real;
+    1025             :     } else {
+    1026          14 :       synchronous_timer_event_.last_real = ros::Time::now();
+    1027             :     }
+    1028             : 
+    1029        4224 :     synchronous_timer_event_.current_real = ros::Time::now();
+    1030             : 
+    1031        4224 :     timerMPC(synchronous_timer_event_);
+    1032             : 
+    1033             :   } else {
+    1034       76950 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1035             :   }
+    1036             : 
+    1037       81174 :   if (dt > 0) {
+    1038       81017 :     iterateModel(dt);
+    1039             :   } else {
+    1040         157 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1041             :   }
+    1042             : 
+    1043      162348 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1044      162348 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1045             : 
+    1046             :   // check whether all outputs are finite
+    1047       81174 :   bool arefinite = true;
+    1048     1055262 :   for (int i = 0; i < 12; i++) {
+    1049      974088 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1050           0 :       arefinite = false;
+    1051             :     }
+    1052             :   }
+    1053             : 
+    1054       81174 :   if (arefinite) {
+    1055             : 
+    1056             :     // set the desired states base on the result of the mpc
+    1057       81174 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1058       81174 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1059       81174 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1060       81174 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1061             : 
+    1062       81174 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1063       81174 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1064       81174 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1065       81174 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1066             : 
+    1067       81174 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1068       81174 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1069       81174 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1070       81174 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1071             : 
+    1072       81174 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1073             : 
+    1074       81174 :     tracker_cmd.use_position_vertical     = 1;
+    1075       81174 :     tracker_cmd.use_position_horizontal   = 1;
+    1076       81174 :     tracker_cmd.use_velocity_vertical     = 1;
+    1077       81174 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1078       81174 :     tracker_cmd.use_acceleration          = 1;
+    1079       81174 :     tracker_cmd.use_jerk                  = 1;
+    1080       81174 :     tracker_cmd.use_full_state_prediction = 1;
+    1081             : 
+    1082             :   } else {
+    1083             : 
+    1084           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1085             : 
+    1086           0 :     return {};
+    1087             :   }
+    1088             : 
+    1089       81174 :   bool heading_finite = true;
+    1090      405870 :   for (int i = 0; i < MPC_HEADING_N_STATES; i++) {
+    1091      324696 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1092           0 :       heading_finite = false;
+    1093             :     }
+    1094             :   }
+    1095             : 
+    1096       81174 :   if (heading_finite) {
+    1097             : 
+    1098       81174 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1099       81174 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1100       81174 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1101       81174 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1102             : 
+    1103       81174 :     tracker_cmd.use_heading              = 1;
+    1104       81174 :     tracker_cmd.use_heading_rate         = 1;
+    1105       81174 :     tracker_cmd.use_heading_acceleration = 1;
+    1106       81174 :     tracker_cmd.use_heading_jerk         = 1;
+    1107             : 
+    1108             :   } else {
+    1109             : 
+    1110           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1111             : 
+    1112           0 :     return {};
+    1113             :   }
+    1114             : 
+    1115             :   // set the header
+    1116       81174 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1117       81174 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1118             : 
+    1119             :   // u have to return a position command
+    1120             :   // can set the jerk to 0
+    1121       81174 :   return {tracker_cmd};
+    1122             : }  // namespace mpc_tracker
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : /* //{ getStatus() */
+    1127             : 
+    1128        9376 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1129             : 
+    1130       18752 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1131        9376 :   auto trajectory_size        = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1132             : 
+    1133             :   double des_x, des_y, des_z, des_heading;
+    1134             :   {
+    1135        9376 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1136             : 
+    1137        9376 :     des_x       = des_x_trajectory_(0);
+    1138        9376 :     des_y       = des_y_trajectory_(0);
+    1139        9376 :     des_z       = des_z_trajectory_(0);
+    1140        9376 :     des_heading = des_heading_trajectory_(0);
+    1141             :   }
+    1142             : 
+    1143        9376 :   mrs_msgs::TrackerStatus tracker_status;
+    1144             : 
+    1145        9376 :   tracker_status.active            = is_active_;
+    1146        9376 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1147             : 
+    1148        9376 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1149             : 
+    1150        9376 :   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_;
+    1151        9376 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1152        9376 :   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;
+    1153             : 
+    1154        9376 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1155             : 
+    1156        9376 :   if (!is_active_)
+    1157           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+    1158        9376 :   else if (tracker_status.tracking_trajectory)
+    1159        1830 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TRAJECTORY;
+    1160        7546 :   else if (tracker_status.have_goal)
+    1161        4143 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+    1162             :   else
+    1163        3403 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+    1164             : 
+    1165             : 
+    1166        9376 :   int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    1167             : 
+    1168        9376 :   tracker_status.trajectory_length = trajectory_size;
+    1169        9376 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1170             : 
+    1171        9376 :   if (trajectory_tracking_in_progress_) {
+    1172             : 
+    1173        3660 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1174             : 
+    1175        1830 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1176             : 
+    1177        1830 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1178        1830 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1179             : 
+    1180        1830 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1181        1830 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1182        1830 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1183        1830 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1184             :   }
+    1185             : 
+    1186       18752 :   return tracker_status;
+    1187             : }
+    1188             : 
+    1189             : //}
+    1190             : 
+    1191             : /* //{ enableCallbacks() */
+    1192             : 
+    1193        2179 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1194             : 
+    1195        4358 :   std::stringstream ss;
+    1196             : 
+    1197        2179 :   if (cmd->data != callbacks_enabled_) {
+    1198             : 
+    1199        1889 :     callbacks_enabled_ = cmd->data;
+    1200        1889 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             : 
+    1202             :   } else {
+    1203             : 
+    1204         290 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1205             :   }
+    1206             : 
+    1207        4358 :   std_srvs::SetBoolResponse res;
+    1208        2179 :   res.message = ss.str();
+    1209        2179 :   res.success = true;
+    1210             : 
+    1211        4358 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1212             : }
+    1213             : 
+    1214             : //}
+    1215             : 
+    1216             : /* switchOdometrySource() //{ */
+    1217             : 
+    1218           5 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1219             : 
+    1220           5 :   odometry_reset_in_progress_ = true;
+    1221           5 :   mpc_result_invalid_         = true;
+    1222             : 
+    1223          10 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1224          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1225             : 
+    1226           5 :   ROS_INFO(
+    1227             :       "[MpcTracker]: start of odometry 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: "
+    1228             :       "%.2f], "
+    1229             :       "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]",
+    1230             :       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,
+    1231             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1232             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1233             : 
+    1234           5 :   timer_mpc_iteration_.stop();
+    1235           5 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1236             : 
+    1237           5 :   while (mpc_timer_running_) {
+    1238             : 
+    1239           3 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1240           3 :     ros::Duration wait(0.001);
+    1241           3 :     wait.sleep();
+    1242             : 
+    1243           3 :     if (!mpc_timer_running_) {
+    1244           3 :       ROS_DEBUG("[MpcTracker]: mpc timer finished");
+    1245           3 :       break;
+    1246             :     }
+    1247             :   }
+    1248             : 
+    1249             :   // | --------- recalculate the goal to new coordinates -------- |
+    1250             : 
+    1251           5 :   double old_heading  = 0;
+    1252           5 :   double new_heading  = 0;
+    1253           5 :   bool   got_headings = true;
+    1254             : 
+    1255             :   try {
+    1256           5 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1257             :   }
+    1258           0 :   catch (...) {
+    1259           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1260           0 :     got_headings = false;
+    1261             :   }
+    1262             : 
+    1263             :   try {
+    1264           5 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1265             :   }
+    1266           0 :   catch (...) {
+    1267           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1268           0 :     got_headings = false;
+    1269             :   }
+    1270             : 
+    1271          10 :   std_srvs::TriggerResponse res;
+    1272             : 
+    1273           5 :   if (!got_headings) {
+    1274           0 :     res.message = "could not calculate the heading difference";
+    1275           0 :     res.success = false;
+    1276             : 
+    1277           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1278             :   }
+    1279             : 
+    1280             :   // calculate the difference of position
+    1281           5 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1282           5 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1283           5 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1284           5 :   double dheading = new_heading - old_heading;
+    1285             : 
+    1286           5 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1287             : 
+    1288             :   {
+    1289           5 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1290             : 
+    1291           5 :     if (trajectory_set_) {
+    1292             : 
+    1293           0 :       for (int i = 0; i < trajectory_size_ + MPC_HORIZON_LENGTH; i++) {
+    1294             : 
+    1295           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);
+    1296           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1297             : 
+    1298           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec(0);
+    1299           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec(1);
+    1300           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1301           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1302             :       }
+    1303             :     }
+    1304             : 
+    1305         205 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1306             : 
+    1307         200 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1308         200 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1309             : 
+    1310         200 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec(0);
+    1311         200 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec(1);
+    1312         200 :       des_z_trajectory_(i, 0) += dz;
+    1313         200 :       des_heading_trajectory_(i, 0) += dheading;
+    1314             :     }
+    1315             : 
+    1316             :     // update the position
+    1317             :     {
+    1318           5 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1319           5 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1320           5 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec(0);
+    1321           5 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec(1);
+    1322           5 :       mpc_x_(8, 0) += dz;
+    1323             :     }
+    1324             : 
+    1325             :     // update the velocity
+    1326             :     {
+    1327           5 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1328           5 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1329             :       // we leave the z velocity as it was in the original frame
+    1330             :     }
+    1331             : 
+    1332             :     // update the acceleration
+    1333             :     {
+    1334           5 :       mpc_x_(2, 0)  = 0;
+    1335           5 :       mpc_x_(6, 0)  = 0;
+    1336           5 :       mpc_x_(10, 0) = 0;
+    1337             :     }
+    1338             : 
+    1339             :     // update the heading and its derivative
+    1340           5 :     mpc_x_heading_(0, 0) += dheading;
+    1341           5 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1342             :   }
+    1343             : 
+    1344           5 :   ROS_INFO(
+    1345             :       "[MpcTracker]: start of odometry 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: "
+    1346             :       "%.2f]",
+    1347             :       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));
+    1348             : 
+    1349           5 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1350             : 
+    1351           5 :   if (!mpc_synchronous_) {
+    1352           5 :     timer_mpc_iteration_.start();
+    1353             :   }
+    1354             : 
+    1355           5 :   odometry_reset_in_progress_ = false;
+    1356             : 
+    1357           5 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1358             : }
+    1359             : 
+    1360             : //}
+    1361             : 
+    1362             : /* //{ hover() */
+    1363             : 
+    1364           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1365             : 
+    1366           1 :   toggleHover(true);
+    1367             : 
+    1368           2 :   std::stringstream ss;
+    1369           1 :   ss << "initiating hover";
+    1370             : 
+    1371           2 :   std_srvs::TriggerResponse res;
+    1372           1 :   res.success = true;
+    1373           1 :   res.message = ss.str();
+    1374             : 
+    1375           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1376             : }
+    1377             : 
+    1378             : //}
+    1379             : 
+    1380             : /* //{ startTrajectoryTracking() */
+    1381             : 
+    1382           2 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1383           4 :   std::stringstream ss;
+    1384             : 
+    1385           4 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1386             : 
+    1387           4 :   std_srvs::TriggerResponse res;
+    1388           2 :   res.success = success;
+    1389           2 :   res.message = message;
+    1390             : 
+    1391           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1392             : }
+    1393             : 
+    1394             : //}
+    1395             : 
+    1396             : /* //{ stopTrajectoryTracking() */
+    1397             : 
+    1398           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1399             : 
+    1400           2 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1401             : 
+    1402           2 :   std_srvs::TriggerResponse res;
+    1403           1 :   res.success = success;
+    1404           1 :   res.message = message;
+    1405             : 
+    1406           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1407             : }
+    1408             : 
+    1409             : //}
+    1410             : 
+    1411             : /* //{ resumeTrajectoryTracking() */
+    1412             : 
+    1413           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1414             : 
+    1415           2 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1416             : 
+    1417           2 :   std_srvs::TriggerResponse res;
+    1418           1 :   res.success = success;
+    1419           1 :   res.message = message;
+    1420             : 
+    1421           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1422             : }
+    1423             : 
+    1424             : //}
+    1425             : 
+    1426             : /* //{ gotoTrajectoryStart() */
+    1427             : 
+    1428           2 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1429             : 
+    1430           4 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1431             : 
+    1432           4 :   std_srvs::TriggerResponse res;
+    1433           2 :   res.success = success;
+    1434           2 :   res.message = message;
+    1435             : 
+    1436           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1437             : }
+    1438             : 
+    1439             : //}
+    1440             : 
+    1441             : /* //{ setConstraints() */
+    1442             : 
+    1443         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1444             : 
+    1445         380 :   if (!is_initialized_) {
+    1446           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1447             :   }
+    1448             : 
+    1449         380 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1450             : 
+    1451             :   // directly updated the speeds in the constraints
+    1452             :   // the reset needs to wait for manageConstraints()
+    1453             :   {
+    1454         760 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1455             : 
+    1456             :     // important! this needs to be done to initialize the full struct
+    1457         380 :     if (!got_constraints_) {
+    1458             : 
+    1459         108 :       constraints_filtered_ = constraints->constraints;
+    1460             : 
+    1461             :     } else {
+    1462             : 
+    1463         272 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1464         272 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1465         272 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1466         272 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1467             :     }
+    1468             :   }
+    1469             : 
+    1470         380 :   got_constraints_ = true;
+    1471             : 
+    1472         380 :   all_constraints_set_ = false;
+    1473             : 
+    1474         380 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1475             : 
+    1476         760 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1477         380 :   res.success = true;
+    1478         380 :   res.message = "constraints updated";
+    1479             : 
+    1480         380 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1481             : }
+    1482             : 
+    1483             : //}
+    1484             : 
+    1485             : /* //{ setReference() */
+    1486             : 
+    1487         268 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1488             : 
+    1489         268 :   toggleHover(false);
+    1490             : 
+    1491         268 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1492             : 
+    1493         536 :   mrs_msgs::ReferenceSrvResponse res;
+    1494         268 :   res.success = true;
+    1495         268 :   res.message = "reference set";
+    1496             : 
+    1497         536 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1498             : }
+    1499             : 
+    1500             : //}
+    1501             : 
+    1502             : /* //{ setVelocityReference() */
+    1503             : 
+    1504         822 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1505             : 
+    1506         822 :   if (!is_initialized_) {
+    1507           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1508             :   }
+    1509             : 
+    1510             :   {
+    1511         822 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1512             : 
+    1513         822 :     velocity_reference_time_ = ros::Time::now();
+    1514             : 
+    1515         822 :     velocity_reference_ = cmd->reference;
+    1516             :   }
+    1517             : 
+    1518         822 :   if (!velocity_tracking_active_) {
+    1519             : 
+    1520           4 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1521             : 
+    1522           4 :     timer_velocity_tracking_.stop();
+    1523           4 :     timer_velocity_tracking_.start();
+    1524             : 
+    1525           4 :     velocity_tracking_active_ = true;
+    1526             :   }
+    1527             : 
+    1528        1644 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1529         822 :   response.success = true;
+    1530         822 :   response.message = "reference set";
+    1531             : 
+    1532         822 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1533             : }
+    1534             : 
+    1535             : //}
+    1536             : 
+    1537             : /* //{ setTrajectoryReference() */
+    1538             : 
+    1539           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1540             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1541             : 
+    1542          12 :   std::stringstream ss;
+    1543             : 
+    1544          18 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1545             : 
+    1546          12 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1547           6 :   response.success  = success;
+    1548           6 :   response.message  = message;
+    1549           6 :   response.modified = modified;
+    1550             : 
+    1551          12 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1552             : }
+    1553             : 
+    1554             : //}
+    1555             : 
+    1556             : // | ------------------------ callbacks ----------------------- |
+    1557             : 
+    1558             : /* //{ callbackOtherMavTrajectory() */
+    1559             : 
+    1560         341 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1561             : 
+    1562         341 :   if (!is_initialized_) {
+    1563           0 :     return;
+    1564             :   }
+    1565             : 
+    1566         682 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1567             :   mrs_lib::ScopeTimer timer =
+    1568         682 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1569             : 
+    1570         341 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1571             : 
+    1572         341 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1573             : 
+    1574             :   // the times might not be synchronized, so just remember the time of receiving it
+    1575         341 :   trajectory.stamp = ros::Time::now();
+    1576             : 
+    1577             :   // transform it from the utm origin to the currently used frame
+    1578         682 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1579             : 
+    1580         341 :   if (!res) {
+    1581             : 
+    1582           0 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1583           0 :     ROS_WARN_STREAM_ONCE(message);
+    1584           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1585             : 
+    1586           0 :     return;
+    1587             :   }
+    1588             : 
+    1589         341 :   geometry_msgs::TransformStamped tf = res.value();
+    1590             : 
+    1591       13981 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1592             : 
+    1593       13640 :     geometry_msgs::PoseStamped original_pose;
+    1594             : 
+    1595       13640 :     original_pose.pose.position.x = trajectory.points.at(i).x;
+    1596       13640 :     original_pose.pose.position.y = trajectory.points.at(i).y;
+    1597       13640 :     original_pose.pose.position.z = trajectory.points.at(i).z;
+    1598             : 
+    1599       13640 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1600             : 
+    1601       13640 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1602             : 
+    1603       13640 :     if (res) {
+    1604       13640 :       trajectory.points.at(i).x = res.value().pose.position.x;
+    1605       13640 :       trajectory.points.at(i).y = res.value().pose.position.y;
+    1606       13640 :       trajectory.points.at(i).z = res.value().pose.position.z;
+    1607             :     } else {
+    1608             : 
+    1609           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1610           0 :       ROS_WARN_STREAM_ONCE(message);
+    1611           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1612             : 
+    1613           0 :       return;
+    1614             :     }
+    1615             :   }
+    1616             : 
+    1617             :   {
+    1618         682 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1619             : 
+    1620             :     // update the diagnostics
+    1621         341 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1622             :   }
+    1623             : }
+    1624             : 
+    1625             : //}
+    1626             : 
+    1627             : /* //{ callbackOtherMavDiagnostics() */
+    1628             : 
+    1629        2126 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1630             : 
+    1631        6378 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1632             :   mrs_lib::ScopeTimer timer =
+    1633        6378 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1634             : 
+    1635        4252 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1636             : 
+    1637             :   // fill in the current time
+    1638             :   // the other uav's time might not be synchronized with ours
+    1639        2126 :   diagnostics.header.stamp = ros::Time::now();
+    1640             : 
+    1641             :   {
+    1642        4252 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1643             : 
+    1644        2126 :     other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1645             :   }
+    1646        2126 : }
+    1647             : 
+    1648             : //}
+    1649             : 
+    1650             : /* //{ callbackToggleCollisionAvoidance() */
+    1651             : 
+    1652           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1653             : 
+    1654           0 :   collision_avoidance_enabled_ = req.data;
+    1655             : 
+    1656           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1657             : 
+    1658           0 :   res.message = "Collision avoidance set.";
+    1659           0 :   res.success = true;
+    1660             : 
+    1661           0 :   return true;
+    1662             : }
+    1663             : 
+    1664             : //}
+    1665             : 
+    1666             : /* callbackWiggle() //{ */
+    1667             : 
+    1668           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1669             : 
+    1670           0 :   if (!is_initialized_) {
+    1671             : 
+    1672           0 :     res.success = false;
+    1673           0 :     res.message = "tracker not active";
+    1674           0 :     return true;
+    1675             :   }
+    1676             : 
+    1677             :   {
+    1678           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1679             : 
+    1680           0 :     drs_params_.wiggle_enabled = req.data;
+    1681             : 
+    1682           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1683             :   }
+    1684             : 
+    1685           0 :   res.success = true;
+    1686           0 :   res.message = "wiggle updated";
+    1687             : 
+    1688           0 :   return true;
+    1689             : }
+    1690             : 
+    1691             : //}
+    1692             : 
+    1693             : /* //{ dynamicReconfigureCallback() */
+    1694             : 
+    1695         108 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1696             : 
+    1697         216 :   std::scoped_lock lock(mutex_drs_params_);
+    1698             : 
+    1699         108 :   drs_params_ = config;
+    1700             : 
+    1701         108 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1702         108 : }
+    1703             : 
+    1704             : //}
+    1705             : 
+    1706             : // --------------------------------------------------------------
+    1707             : // |                          routines                          |
+    1708             : // --------------------------------------------------------------
+    1709             : 
+    1710             : // | --------------- mutual collision avoidance --------------- |
+    1711             : 
+    1712             : /* //{ checkCollision() */
+    1713             : 
+    1714      189760 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1715             : 
+    1716      189760 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1717             : 
+    1718       12181 :     return true;
+    1719             : 
+    1720             :   } else {
+    1721             : 
+    1722      177579 :     return false;
+    1723             :   }
+    1724             : }
+    1725             : 
+    1726             : //}
+    1727             : 
+    1728             : /* //{ checkCollisionInflated() */
+    1729             : 
+    1730      189760 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1731             : 
+    1732      189760 :   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) {
+    1733             : 
+    1734       68188 :     return true;
+    1735             : 
+    1736             :   } else {
+    1737             : 
+    1738      121572 :     return false;
+    1739             :   }
+    1740             : }
+    1741             : 
+    1742             : //}
+    1743             : 
+    1744             : /* //{ checkTrajectoryForCollisions() */
+    1745             : 
+    1746             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1747       82517 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1748             : 
+    1749       82517 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1750             : 
+    1751       82517 :   first_collision_index = INT_MAX;
+    1752       82517 :   avoiding_collision_   = false;
+    1753             : 
+    1754       82517 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1755             : 
+    1756       87264 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1757             : 
+    1758             :     // is the other's trajectory fresh enought?
+    1759        4747 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1760             : 
+    1761      194504 :       for (int v = 0; v < MPC_HORIZON_LENGTH; v++) {
+    1762             : 
+    1763             :         // check all points of the trajectory for possible collisions
+    1764      189760 :         if (checkCollision(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1765      189760 :                            predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points.at(v).x, u->second.points.at(v).y, u->second.points.at(v).z)) {
+    1766             : 
+    1767             :           // collision is detected
+    1768       12181 :           int other_uav_priority = INT_MAX;
+    1769             :           // get the priority of the other uav
+    1770             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1771       12181 :           other_uav_priority = u->second.priority;
+    1772             : 
+    1773             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1774       12181 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1775             : 
+    1776             :             // we should be avoiding
+    1777        5892 :             avoiding_collision_      = true;
+    1778        5892 :             double tmp_safe_altitude = u->second.points.at(v).z + _avoidance_z_correction_;
+    1779             : 
+    1780        5892 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1781         389 :               collision_free_altitude_ = tmp_safe_altitude;
+    1782             :             }
+    1783             : 
+    1784        5892 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1785             : 
+    1786             :           } else {
+    1787             :             // the other uav should avoid us
+    1788        6289 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1789             :           }
+    1790             :         }
+    1791             : 
+    1792      189760 :         if (checkCollisionInflated(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1793      189760 :                                    predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points.at(v).x, u->second.points.at(v).y,
+    1794      189760 :                                    u->second.points.at(v).z)) {
+    1795             : 
+    1796             :           // collision is detected
+    1797       68188 :           if (first_collision_index > v) {
+    1798        2564 :             first_collision_index = v;
+    1799             :           }
+    1800             :         }
+    1801             :       }
+    1802             :     }
+    1803             : 
+    1804        4747 :     u++;
+    1805             :   }
+    1806             : 
+    1807       82517 :   if (!avoiding_collision_) {
+    1808             : 
+    1809       81895 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1810             : 
+    1811             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1812       81895 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1813             : 
+    1814       81895 :     double safety_area_min_z = std::numeric_limits<double>::lowest();
+    1815             : 
+    1816       81895 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1817             : 
+    1818           0 :       collision_free_altitude_ = safety_area_min_z;
+    1819             :     }
+    1820             :   }
+    1821             : 
+    1822      165034 :   return collision_free_altitude_;
+    1823             : }
+    1824             : 
+    1825             : //}
+    1826             : 
+    1827             : // | ------------------ trajectory filtering ------------------ |
+    1828             : 
+    1829             : /* //{ filterReferenceXY() */
+    1830             : 
+    1831       83565 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1832             :                                                              double max_speed_y) {
+    1833             : 
+    1834       83565 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1835             : 
+    1836      167130 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1837       83565 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1838             : 
+    1839      167130 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1840      167130 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1841             : 
+    1842             :   double difference_x;
+    1843             :   double difference_y;
+    1844             :   double max_sample_x;
+    1845             :   double max_sample_y;
+    1846             : 
+    1847       83565 :   if (std::hypot(mpc_x(0, 0) - des_x_trajectory(0, 0), mpc_x(4, 0) - des_y_trajectory(0, 0)) < 2.0) {
+    1848       61574 :     return {des_x_trajectory, des_y_trajectory};
+    1849             :   }
+    1850             : 
+    1851      901631 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1852             : 
+    1853      879640 :     if (i == 0) {
+    1854       21991 :       max_sample_x = max_speed_x * dt1;
+    1855       21991 :       max_sample_y = max_speed_y * dt1;
+    1856       21991 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1857       21991 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1858             :     } else {
+    1859      857649 :       max_sample_x = max_speed_x * _dt2_;
+    1860      857649 :       max_sample_y = max_speed_y * _dt2_;
+    1861      857649 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1862      857649 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1863             :     }
+    1864             : 
+    1865      879640 :     if (!trajectory_tracking_in_progress_) {
+    1866             : 
+    1867      805320 :       double direction_angle  = atan2(difference_y, difference_x);
+    1868      805320 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1869      805320 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1870             : 
+    1871      805320 :       if (max_sample_x > max_dir_sample_x) {
+    1872      238879 :         max_sample_x = max_dir_sample_x;
+    1873             :       }
+    1874      805320 :       if (max_sample_y > max_dir_sample_y) {
+    1875      805320 :         max_sample_y = max_dir_sample_y;
+    1876             :       }
+    1877             : 
+    1878             :       // saturate the difference
+    1879      805320 :       if (difference_x > max_sample_x)
+    1880      159813 :         difference_x = max_sample_x;
+    1881      645507 :       else if (difference_x < -max_sample_x)
+    1882      161575 :         difference_x = -max_sample_x;
+    1883             : 
+    1884      805320 :       if (difference_y > max_sample_y)
+    1885       72556 :         difference_y = max_sample_y;
+    1886      732764 :       else if (difference_y < -max_sample_y)
+    1887      167910 :         difference_y = -max_sample_y;
+    1888             :     }
+    1889             : 
+    1890      879640 :     if (i == 0) {
+    1891       21991 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1892       21991 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1893             :     } else {
+    1894      857649 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1895      857649 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1896             :     }
+    1897             :   }
+    1898             : 
+    1899             :   // | ----------------------- add wiggle ----------------------- |
+    1900             : 
+    1901       21991 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1902       21991 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1903             : 
+    1904       21991 :   if (wiggle_enabled) {
+    1905             : 
+    1906           0 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1907           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1908           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1909             :     }
+    1910             : 
+    1911           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1912             : 
+    1913           0 :     if (wiggle_phase_ > M_PI) {
+    1914           0 :       wiggle_phase_ -= 2 * M_PI;
+    1915             :     }
+    1916             :   }
+    1917             : 
+    1918       21991 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1919             : }
+    1920             : 
+    1921             : //}
+    1922             : 
+    1923             : /* //{ filterReferenceZ() */
+    1924             : 
+    1925       83565 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1926             : 
+    1927      167130 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1928             : 
+    1929       83565 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1930             : 
+    1931             :   double difference_z;
+    1932             :   double max_sample_z;
+    1933             : 
+    1934       83565 :   MatrixXd filtered_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1935             : 
+    1936       83565 :   double current_z = mpc_x(8, 0);
+    1937             : 
+    1938     3426169 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1939             : 
+    1940     3342600 :     if (i == 0) {
+    1941             : 
+    1942       83565 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1943             : 
+    1944       83565 :       if (difference_z > 0) {
+    1945       33631 :         max_sample_z = max_ascending_speed * dt1;
+    1946             :       } else {
+    1947       49934 :         max_sample_z = max_descending_speed * dt1;
+    1948             :       }
+    1949             : 
+    1950             :     } else {
+    1951             : 
+    1952     3259031 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1953             : 
+    1954     3259031 :       if (difference_z > 0) {
+    1955      209880 :         max_sample_z = max_ascending_speed * _dt2_;
+    1956             :       } else {
+    1957     3049156 :         max_sample_z = max_descending_speed * _dt2_;
+    1958             :       }
+    1959             :     }
+    1960             : 
+    1961     3342600 :     if (!trajectory_tracking_in_progress_) {
+    1962             : 
+    1963             :       // saturate the difference
+    1964     2718560 :       if (difference_z > max_sample_z)
+    1965       80202 :         difference_z = max_sample_z;
+    1966     2638358 :       else if (difference_z < -max_sample_z)
+    1967       22854 :         difference_z = -max_sample_z;
+    1968             :     }
+    1969             : 
+    1970     3342600 :     if (i == 0) {
+    1971       83565 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1972             :     } else {
+    1973     3259031 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1974             :     }
+    1975             :   }
+    1976             : 
+    1977      167130 :   return filtered_trajectory;
+    1978             : }
+    1979             : 
+    1980             : //}
+    1981             : 
+    1982             : /* //{ manageConstraints() */
+    1983             : 
+    1984       83565 : void MpcTracker::manageConstraints() {
+    1985             : 
+    1986       83565 :   if (!got_constraints_) {
+    1987       83384 :     return;
+    1988             :   }
+    1989             : 
+    1990       83565 :   if (all_constraints_set_) {
+    1991       83384 :     return;
+    1992             :   }
+    1993             : 
+    1994         181 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1995         362 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1996             : 
+    1997         362 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1998         181 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1999         181 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    2000         181 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    2001         181 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    2002         181 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    2003         543 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    2004         181 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    2005             : 
+    2006         181 :   if (can_change) {
+    2007             : 
+    2008             :     {
+    2009         181 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    2010             : 
+    2011         181 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2012         181 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2013         181 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2014             : 
+    2015         181 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2016         181 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2017         181 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2018             : 
+    2019         181 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2020         181 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2021         181 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2022             : 
+    2023         181 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2024         181 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2025         181 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2026             :     }
+    2027             : 
+    2028         181 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2029         181 :     all_constraints_set_ = true;
+    2030             : 
+    2031             :   } else {
+    2032           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2033             :   }
+    2034             : }
+    2035             : 
+    2036             : //}
+    2037             : 
+    2038             : /* //{ calculateMPC() */
+    2039             : 
+    2040       83565 : void MpcTracker::calculateMPC() {
+    2041             : 
+    2042       83565 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2043             : 
+    2044       83565 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2045             : 
+    2046       83565 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2047             : 
+    2048       83565 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2049       83565 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2050       83565 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2051       83565 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2052             : 
+    2053       83565 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2054             :   {
+    2055      167130 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2056             : 
+    2057       83565 :     des_x_trajectory       = des_x_trajectory_;
+    2058       83565 :     des_y_trajectory       = des_y_trajectory_;
+    2059       83565 :     des_z_trajectory       = des_z_trajectory_;
+    2060       83565 :     des_heading_trajectory = des_heading_trajectory_;
+    2061             :   }
+    2062             : 
+    2063       83565 :   int    first_collision_index = INT_MAX;
+    2064       83565 :   double lowest_z              = std::numeric_limits<double>::max();
+    2065             : 
+    2066       83565 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2067             : 
+    2068             :     // determine the lowest point in our trajectory
+    2069     3383194 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2070     3300680 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2071      124419 :         lowest_z = des_z_trajectory_(i, 0);
+    2072             :       }
+    2073             :     }
+    2074             : 
+    2075             :     // check other drone trajectories for collisions
+    2076       82517 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2077             : 
+    2078             :   } else {
+    2079             : 
+    2080        1048 :     minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+    2081             :   }
+    2082             : 
+    2083       83565 :   double max_speed_x = constraints.horizontal_speed;
+    2084       83565 :   double max_speed_y = constraints.horizontal_speed;
+    2085       83565 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2086       83565 :   double min_speed_z = constraints.vertical_descending_speed;
+    2087             : 
+    2088       83565 :   double max_acc_x = constraints.horizontal_acceleration;
+    2089       83565 :   double max_acc_y = constraints.horizontal_acceleration;
+    2090       83565 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2091       83565 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2092             : 
+    2093       83565 :   double max_snap_x = constraints.horizontal_snap;
+    2094       83565 :   double max_snap_y = constraints.horizontal_snap;
+    2095       83565 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2096       83565 :   double min_snap_z = constraints.vertical_descending_snap;
+    2097             : 
+    2098       83565 :   double max_jerk_x = constraints.horizontal_jerk;
+    2099       83565 :   double max_jerk_y = constraints.horizontal_jerk;
+    2100       83565 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2101       83565 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2102             : 
+    2103       83565 :   collision_avoidance_affecting_me_ = false;
+    2104             : 
+    2105       83565 :   if (first_collision_index < MPC_HORIZON_LENGTH) {
+    2106             : 
+    2107        2564 :     collision_avoidance_affecting_me_ = true;
+    2108             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2109        2564 :     double tmp = 0;
+    2110             : 
+    2111        2564 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2112        2564 :       tmp = 1;
+    2113           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2114           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2115           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2116           0 :       tmp = tmp * tmp;
+    2117             :     }
+    2118             : 
+    2119        2564 :     if (!std::isfinite(tmp)) {
+    2120           0 :       tmp = 1.0;
+    2121           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2122           0 :       return;
+    2123        2564 :     } else if (tmp > 1.0) {
+    2124           0 :       tmp = 1.0;
+    2125        2564 :     } else if (tmp < 0.0) {
+    2126           0 :       tmp = 0.0;
+    2127             :     }
+    2128             : 
+    2129        2564 :     if (tmp > coef_scaler) {
+    2130           6 :       coef_scaler = tmp;
+    2131           6 :       coef_time   = ros::Time::now();
+    2132             :     }
+    2133        2564 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2134        2079 :       coef_scaler = tmp;
+    2135             :     }
+    2136             : 
+    2137             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2138        2564 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2139        2564 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2140             :   }
+    2141             : 
+    2142       83565 :   if (collision_free_altitude_ > lowest_z) {
+    2143             : 
+    2144        1556 :     collision_avoidance_affecting_me_ = true;
+    2145        1556 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2146        1556 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2147             :   }
+    2148             : 
+    2149             :   // first control input generated by MPC
+    2150      167130 :   VectorXd mpc_u         = VectorXd::Zero(MPC_N_INPUTS);
+    2151       83565 :   double   mpc_u_heading = 0;
+    2152             : 
+    2153       83565 :   double iters_z       = 0;
+    2154       83565 :   double iters_x       = 0;
+    2155       83565 :   double iters_y       = 0;
+    2156       83565 :   double iters_heading = 0;
+    2157             : 
+    2158       83565 :   ros::Time time_begin = ros::Time::now();
+    2159             : 
+    2160      167130 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2161             : 
+    2162     3426169 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2163     3342600 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2164       61104 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2165             :     } else {
+    2166     3281496 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2167             :     }
+    2168             :   }
+    2169             : 
+    2170             :   // | ----------------- prepare the references ----------------- |
+    2171             : 
+    2172             :   // | -------------------- MPC solver z-axis ------------------- |
+    2173             : 
+    2174       83565 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2175       64195 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2176             :   } else {
+    2177       19370 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2178             :   }
+    2179             : 
+    2180      167130 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2181             : 
+    2182       83565 :   initial_z(0, 0) = mpc_x(8, 0);
+    2183       83565 :   initial_z(1, 0) = mpc_x(9, 0);
+    2184       83565 :   initial_z(2, 0) = mpc_x(10, 0);
+    2185       83565 :   initial_z(3, 0) = mpc_x(11, 0);
+    2186             : 
+    2187       83565 :   mpc_solver_z_->setDt(dt1);
+    2188       83565 :   mpc_solver_z_->setInitialState(initial_z);
+    2189       83565 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2190       83565 :   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);
+    2191       83565 :   iters_z += mpc_solver_z_->solveMPC();
+    2192             : 
+    2193             :   {
+    2194      167130 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2195             : 
+    2196       83565 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2197             :   }
+    2198             : 
+    2199       83565 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2200             : 
+    2201             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2202             :   double ascend;
+    2203             :   {
+    2204       83565 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2205             : 
+    2206       83565 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2207             :   }
+    2208             : 
+    2209       83565 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2210         662 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2211         662 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2212             :   }
+    2213             : 
+    2214      250695 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2215             : 
+    2216             :   // | -------------------- MPC solver x-axis ------------------- |
+    2217             : 
+    2218       83565 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2219       64194 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2220             :   } else {
+    2221       19371 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2222             :   }
+    2223             : 
+    2224      167130 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2225             : 
+    2226       83565 :   initial_x(0, 0) = mpc_x(0, 0);
+    2227       83565 :   initial_x(1, 0) = mpc_x(1, 0);
+    2228       83565 :   initial_x(2, 0) = mpc_x(2, 0);
+    2229       83565 :   initial_x(3, 0) = mpc_x(3, 0);
+    2230             : 
+    2231       83565 :   mpc_solver_x_->setDt(dt1);
+    2232       83565 :   mpc_solver_x_->setInitialState(initial_x);
+    2233       83565 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2234             : 
+    2235       83565 :   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);
+    2236       83565 :   iters_x += mpc_solver_x_->solveMPC();
+    2237             : 
+    2238             :   {
+    2239      167130 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2240             : 
+    2241       83565 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2242             :   }
+    2243             : 
+    2244       83565 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2245             : 
+    2246             :   // | -------------------- MPC solver y-axis ------------------- |
+    2247             : 
+    2248       83565 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2249       64194 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2250             :   } else {
+    2251       19371 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2252             :   }
+    2253             : 
+    2254      167130 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2255             : 
+    2256       83565 :   initial_y(0, 0) = mpc_x(4, 0);
+    2257       83565 :   initial_y(1, 0) = mpc_x(5, 0);
+    2258       83565 :   initial_y(2, 0) = mpc_x(6, 0);
+    2259       83565 :   initial_y(3, 0) = mpc_x(7, 0);
+    2260             : 
+    2261       83565 :   mpc_solver_y_->setDt(dt1);
+    2262       83565 :   mpc_solver_y_->setInitialState(initial_y);
+    2263       83565 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2264       83565 :   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);
+    2265       83565 :   iters_y += mpc_solver_y_->solveMPC();
+    2266             :   {
+    2267      167130 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2268             : 
+    2269       83565 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2270             :   }
+    2271       83565 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2272             : 
+    2273             :   // | ------------------- MPC solver heading ------------------- |
+    2274             : 
+    2275             :   // unwrap the heading reference
+    2276             : 
+    2277       83565 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2278             : 
+    2279     3342600 :   for (int i = 1; i < MPC_HORIZON_LENGTH; i++) {
+    2280     3259031 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2281             :   }
+    2282             : 
+    2283       83565 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2284       64193 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2285             :   } else {
+    2286       19372 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2287             :   }
+    2288             : 
+    2289       83565 :   mpc_solver_heading_->setDt(dt1);
+    2290       83565 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2291       83565 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2292       83565 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2293             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2294       83565 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2295             :   {
+    2296      167130 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2297             : 
+    2298       83565 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2299             :   }
+    2300       83565 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2301             : 
+    2302             :   {
+    2303      167130 :     geometry_msgs::PoseStamped point;
+    2304       83565 :     point.header.stamp    = ros::Time::now();
+    2305       83565 :     point.header.frame_id = uav_state_.header.frame_id;
+    2306             : 
+    2307       83565 :     point.pose.position.x = des_x_filtered(0, 0);
+    2308       83565 :     point.pose.position.y = des_y_filtered(0, 0);
+    2309       83565 :     point.pose.position.z = des_z_filtered(0, 0);
+    2310             : 
+    2311       83565 :     point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    2312             : 
+    2313       83565 :     ph_first_reference_point_.publish(point);
+    2314             :   }
+    2315             : 
+    2316             :   {
+    2317       83565 :     bool saturating = false;
+    2318             : 
+    2319       83565 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2320           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2321           0 :       mpc_u(0)   = max_snap_x;
+    2322           0 :       saturating = true;
+    2323             :     }
+    2324       83565 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2325           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2326           0 :       mpc_u(0)   = -max_snap_x;
+    2327           0 :       saturating = true;
+    2328             :     }
+    2329       83565 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2330           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2331           0 :       mpc_u(1)   = max_snap_y;
+    2332           0 :       saturating = true;
+    2333             :     }
+    2334       83565 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2335           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2336           0 :       mpc_u(1)   = -max_snap_y;
+    2337           0 :       saturating = true;
+    2338             :     }
+    2339       83565 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2340           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2341           0 :       mpc_u(2)   = max_snap_z;
+    2342           0 :       saturating = true;
+    2343             :     }
+    2344       83565 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2345           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2346           0 :       mpc_u(2)   = -min_snap_z;
+    2347           0 :       saturating = true;
+    2348             :     }
+    2349             : 
+    2350       83565 :     if (saturating) {
+    2351           0 :       debugPrintState(0.1);
+    2352           0 :       debugPrintMPCResult(0.1);
+    2353             :     }
+    2354             :   }
+    2355             : 
+    2356             :   {
+    2357       83565 :     std::scoped_lock lock(mutex_mpc_u_);
+    2358             : 
+    2359       83565 :     mpc_u_         = mpc_u;
+    2360       83565 :     mpc_u_heading_ = mpc_u_heading;
+    2361             :   }
+    2362             : 
+    2363       83565 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2364       83565 :   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_) {
+    2365           1 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2366             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2367             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2368             :                                                                            << _max_iters_heading_);
+    2369             :   }
+    2370             : 
+    2371       83565 :   future_was_predicted_ = true;
+    2372             : 
+    2373             :   // | ------------- breaking for the next iteration ------------ |
+    2374             : 
+    2375      157902 :   if (drs_params.braking_enabled && (std::abs(des_x_filtered(MPC_HORIZON_LENGTH - 6) - des_x_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2376      144146 :       (std::abs(des_y_filtered(MPC_HORIZON_LENGTH - 6) - des_y_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2377      236939 :       (std::abs(des_z_filtered(MPC_HORIZON_LENGTH - 6) - des_z_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2378       68183 :       (std::abs(radians::diff(des_heading_trajectory(MPC_HORIZON_LENGTH - 6), des_heading_trajectory(MPC_HORIZON_LENGTH - 1))) <= 0.1)) {
+    2379             : 
+    2380       67978 :     brake_ = true;
+    2381       67978 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2382             : 
+    2383             :   } else {
+    2384       15587 :     brake_ = false;
+    2385             :   }
+    2386             : 
+    2387             :   /* publish mpc reference //{ */
+    2388             : 
+    2389             :   {
+    2390      167130 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2391       83565 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2392       83565 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2393             : 
+    2394             :     {
+    2395      167130 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2396             : 
+    2397     3426169 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2398             : 
+    2399     3342600 :         geometry_msgs::Pose new_pose;
+    2400             : 
+    2401     3342600 :         new_pose.position.x = des_x_filtered(i, 0);
+    2402     3342600 :         new_pose.position.y = des_y_filtered(i, 0);
+    2403     3342600 :         new_pose.position.z = des_z_filtered(i, 0);
+    2404             : 
+    2405     3342600 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2406             : 
+    2407     3342600 :         debug_trajectory_out.poses.push_back(new_pose);
+    2408             :       }
+    2409             :     }
+    2410             : 
+    2411       83565 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2412             :   }
+    2413             : 
+    2414             :   //}
+    2415             : }
+    2416             : 
+    2417             : //}
+    2418             : 
+    2419             : /* iterateModel() //{ */
+    2420             : 
+    2421       81017 : void MpcTracker::iterateModel(const double& dt) {
+    2422             : 
+    2423       81017 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2424             : 
+    2425       81017 :   if (model_first_iteration_) {
+    2426             : 
+    2427          99 :     model_iteration_last_time_ = ros::Time::now();
+    2428          99 :     model_first_iteration_     = false;
+    2429             : 
+    2430             :   } else {
+    2431             : 
+    2432       80918 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2433             : 
+    2434       80918 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2435       80918 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2436             : 
+    2437             :     // clang-format off
+    2438       80918 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2439       80918 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2440       80918 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2441       80918 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2442       80918 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2443       80918 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2444       80918 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2445       80918 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2446       80918 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2447       80918 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2448       80918 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2449       80918 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2450             : 
+    2451       80918 :       B_ << 0,   0,   0,
+    2452       80918 :             0,   0,   0,
+    2453       80918 :             0,   0,   0,
+    2454       80918 :             dt1, 0,   0,
+    2455       80918 :             0,   0,   0,
+    2456       80918 :             0,   0,   0,
+    2457       80918 :             0,   0,   0,
+    2458       80918 :             0,   dt1, 0,
+    2459       80918 :             0,   0,   0,
+    2460       80918 :             0,   0,   0,
+    2461       80918 :             0,   0,   0,
+    2462       80918 :             0,   0,   dt1;
+    2463             : 
+    2464       80918 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2465       80918 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2466       80918 :                     0, 0,   1,           dt1,
+    2467       80918 :                     0, 0,   0,           1;
+    2468             : 
+    2469       80918 :       B_heading_ << 0,
+    2470       80918 :                     0,
+    2471      161836 :                     0,
+    2472       80918 :                     dt1;
+    2473             : 
+    2474       80918 :     model_iteration_last_time_ = ros::Time::now();
+    2475             :   }
+    2476             : 
+    2477             :   {
+    2478      162034 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2479      162034 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2480             : 
+    2481      162034 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2482      162034 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2483             : 
+    2484             :     // | --------------- check the state difference --------------- |
+    2485             :     {
+    2486       81017 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2487             : 
+    2488       81017 :       bool problem = false;
+    2489             : 
+    2490             :       // position
+    2491             : 
+    2492       81017 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2493           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2494             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2495           0 :         problem = true;
+    2496             :       }
+    2497             : 
+    2498       81017 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2499           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2500             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2501           0 :         problem = true;
+    2502             :     }
+    2503             : 
+    2504       81017 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2505           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2506             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2507           0 :         problem = true;
+    2508             :       }
+    2509             : 
+    2510       81017 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_speed) {
+    2511           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(8), new_mpc_x(8),
+    2512             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), -constraints.vertical_descending_speed);
+    2513           0 :         problem = true;
+    2514             :       }
+    2515             : 
+    2516             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2517             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2518             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2519             :       /*   problem = true; */
+    2520             :       /* } */
+    2521             : 
+    2522             :       // velocity
+    2523             : 
+    2524       81017 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2525           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2526             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2527           0 :         problem = true;
+    2528             :       }
+    2529             : 
+    2530       81017 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2531           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2532             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2533           0 :         problem = true;
+    2534             :       }
+    2535             : 
+    2536       81017 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2537           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2538             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2539           0 :         problem = true;
+    2540             :       }
+    2541             : 
+    2542       81017 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_acceleration) {
+    2543           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(9), new_mpc_x(9),
+    2544             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), -constraints.vertical_descending_acceleration);
+    2545           0 :         problem = true;
+    2546             :       }
+    2547             : 
+    2548             :       // acceleration
+    2549             : 
+    2550       81017 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2551           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2552             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2553           0 :         problem = true;
+    2554             :       }
+    2555             : 
+    2556       81017 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2557           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2558             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2559           0 :         problem = true;
+    2560             :       }
+    2561             : 
+    2562       81017 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2563           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2564             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2565           0 :         problem = true;
+    2566             :       }
+    2567             : 
+    2568       81017 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_jerk) {
+    2569           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(10), new_mpc_x(10),
+    2570             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), -constraints.vertical_descending_jerk);
+    2571           0 :         problem = true;
+    2572             :       }
+    2573             : 
+    2574             :       // jerk
+    2575             : 
+    2576       81017 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2577           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2578             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2579           0 :         problem = true;
+    2580             :       }
+    2581             : 
+    2582       81017 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2583           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2584             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2585           0 :         problem = true;
+    2586             :       }
+    2587             : 
+    2588       81017 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2589           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2590             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2591           0 :         problem = true;
+    2592             :       }
+    2593             : 
+    2594       81017 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_snap) {
+    2595           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(11), new_mpc_x(11),
+    2596             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), -constraints.vertical_descending_snap);
+    2597           0 :         problem = true;
+    2598             :       }
+    2599             : 
+    2600       81017 :       if (problem) {
+    2601           0 :         debugPrintState(0.001);
+    2602           0 :         debugPrintMPCResult(0.001);
+    2603             :       }
+    2604             :     }
+    2605             : 
+    2606             :     {
+    2607       81017 :       std::scoped_lock lock(mutex_mpc_x_);
+    2608             : 
+    2609       81017 :       mpc_x_         = new_mpc_x;
+    2610       81017 :       mpc_x_heading_ = new_mpc_x_heading;
+    2611             : 
+    2612       81017 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2613             :     }
+    2614             :   }
+    2615       81017 : }
+    2616             : 
+    2617             : //}
+    2618             : 
+    2619             : // | -------------------- referece setting -------------------- |
+    2620             : 
+    2621             : /* //{ loadTrajectory() */
+    2622             : 
+    2623             : // method for setting desired trajectory
+    2624         828 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2625             : 
+    2626         828 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2627             : 
+    2628             :   // copy the member variables
+    2629        1656 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2630        1656 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2631             : 
+    2632        1656 :   std::stringstream ss;
+    2633             : 
+    2634             :   /* check the trajectory dt //{ */
+    2635             : 
+    2636             :   double trajectory_dt;
+    2637         828 :   if (msg.dt <= 1e-4) {
+    2638           0 :     trajectory_dt = 0.2;
+    2639           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2640         828 :   } else if (msg.dt < dt1) {
+    2641           0 :     trajectory_dt = 0.2;
+    2642           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2643           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2644           0 :     return std::tuple(false, ss.str(), false);
+    2645             :   } else {
+    2646         828 :     trajectory_dt = msg.dt;
+    2647             :   }
+    2648             : 
+    2649             :   //}
+    2650             : 
+    2651         828 :   int trajectory_size = msg.points.size();
+    2652             : 
+    2653             :   /* sanitize the time-ness of the trajectory //{ */
+    2654             : 
+    2655         828 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2656         828 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2657         828 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2658             : 
+    2659             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2660         828 :   if (msg.fly_now) {
+    2661             : 
+    2662         827 :     ros::Time trajectory_time = msg.header.stamp;
+    2663             : 
+    2664             :     // the desired time is 0 => the current time
+    2665             :     // the trajecoty is a single point => the current time
+    2666         827 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2667             : 
+    2668           3 :       trajectory_time_offset = 0.0;
+    2669             : 
+    2670             :       // the desired time is specified
+    2671             :     } else {
+    2672             : 
+    2673         824 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2674             : 
+    2675             :       // when the time offset is negative, thus in the future
+    2676             :       // just say it, but use it like its from the current time
+    2677         824 :       if (trajectory_time_offset < 0.0) {
+    2678             : 
+    2679           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2680             : 
+    2681           0 :         trajectory_time_offset = 0.0;
+    2682             :       }
+    2683             :     }
+    2684             : 
+    2685             :     // if the time offset is set, check if we need to "move the first idx"
+    2686         827 :     if (trajectory_time_offset > 0.0) {
+    2687             : 
+    2688             :       // calculate the offset in samples
+    2689           2 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2690             : 
+    2691             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2692           2 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2693             : 
+    2694           2 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2695             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2696             : 
+    2697             :       // if the offset is larger than the number of points in the trajectory
+    2698             :       // the trajectory can not be used
+    2699           2 :       if (trajectory_sample_offset >= trajectory_size) {
+    2700             : 
+    2701           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2702           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2703           0 :         return std::tuple(false, ss.str(), false);
+    2704             : 
+    2705             :       } else {
+    2706             : 
+    2707             :         // if the offset is larger than one trajectory sample,
+    2708             :         // offset the start
+    2709           2 :         if (trajectory_time_offset >= trajectory_dt) {
+    2710             : 
+    2711             :           // decrease the trajectory size
+    2712           0 :           trajectory_size -= trajectory_sample_offset;
+    2713             : 
+    2714           0 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2715             : 
+    2716             :         } else {
+    2717             : 
+    2718           2 :           trajectory_sample_offset = 0;
+    2719             :         }
+    2720             :       }
+    2721             :     }
+    2722             : 
+    2723             :   } else { // not fly_now
+    2724             : 
+    2725           1 :       trajectory_tracking_in_progress_ = false;
+    2726             :   }
+    2727             : 
+    2728             :   //}
+    2729             : 
+    2730         828 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2731         828 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2732             : 
+    2733             :   // after this, we should have the correct value of
+    2734             :   // * trajectory_size
+    2735             :   // * trajectory_sample_offset
+    2736             :   // * trajectory_subsample_offset
+    2737             : 
+    2738             :   /* copy the trajectory to a local variable //{ */
+    2739             : 
+    2740             :   // copy only the part from the first valid index
+    2741             : 
+    2742        1656 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2743        1656 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2744        1656 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2745        1656 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2746             : 
+    2747       42622 :   for (int i = 0; i < trajectory_size; i++) {
+    2748             : 
+    2749       41794 :     des_x_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.x;
+    2750       41794 :     des_y_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.y;
+    2751       41794 :     des_z_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.z;
+    2752       41794 :     des_heading_whole_trajectory(i) = msg.points.at(trajectory_sample_offset + i).heading;
+    2753             :   }
+    2754             : 
+    2755             :   //}
+    2756             : 
+    2757             :   /* set looping //{ */
+    2758             : 
+    2759         828 :   bool loop = false;
+    2760             : 
+    2761         828 :   if (msg.loop) {
+    2762             : 
+    2763           0 :     double first_x = des_x_whole_trajectory(0);
+    2764           0 :     double first_y = des_y_whole_trajectory(0);
+    2765           0 :     double first_z = des_z_whole_trajectory(0);
+    2766           0 :     double first_hdg = des_heading_whole_trajectory(0);
+    2767             : 
+    2768           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2769           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2770           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2771           0 :     double last_hdg = des_heading_whole_trajectory(trajectory_size - 1);
+    2772             : 
+    2773             :     // check whether the trajectory is loopable
+    2774           0 :     if (mrs_lib::geometry::dist(vec3_t(first_x, first_y, first_z), vec3_t(last_x, last_y, last_z)) < 1.0 && abs(sradians::diff(first_hdg, last_hdg)) < 0.2) {
+    2775             : 
+    2776           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2777           0 :       loop = true;
+    2778             : 
+    2779             :     } else {
+    2780             : 
+    2781           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2782           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2783           0 :       return std::tuple(false, ss.str(), false);
+    2784             :     }
+    2785             : 
+    2786             :   } else {
+    2787             : 
+    2788         828 :     loop = false;
+    2789             :   }
+    2790             : 
+    2791             :   //}
+    2792             : 
+    2793             :   // by this time, the values of these should be set:
+    2794             :   // * loop
+    2795             : 
+    2796             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2797             : 
+    2798         828 :   if (!loop) {
+    2799             : 
+    2800             :     // extend it so it has smooth ending
+    2801       33948 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2802             : 
+    2803       33120 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2804       33120 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2805       33120 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2806       33120 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2807             :     }
+    2808             :   }
+    2809             : 
+    2810             :   //}
+    2811             : 
+    2812             :   // by this time, the values of these should be set correctly:
+    2813             :   // * trajectory_size
+    2814             :   // * des_x_whole_trajectory
+    2815             :   // * des_y_whole_trajectory
+    2816             :   // * des_z_whole_trajectory
+    2817             :   // * des_heading_whole_trajectory
+    2818             : 
+    2819             :   /* update the global variables //{ */
+    2820             : 
+    2821             :   {
+    2822        1656 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2823             : 
+    2824         828 :     des_whole_trajectory_id_ = msg.input_id;
+    2825             : 
+    2826         828 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2827             : 
+    2828         828 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2829         828 :     trajectory_track_heading_        = msg.use_heading;
+    2830             : 
+    2831             :     // allocate the vectors
+    2832         828 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2833         828 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2834         828 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2835         828 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2836             : 
+    2837       75742 :     for (int i = 0; i < trajectory_size + MPC_HORIZON_LENGTH; i++) {
+    2838             : 
+    2839       74914 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2840       74914 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2841       74914 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2842             : 
+    2843       74914 :       if (trajectory_track_heading_) {
+    2844       74914 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2845             :       } else {
+    2846           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2847             :       }
+    2848             :     }
+    2849             : 
+    2850             :     // if we are tracking trajectory, copy the setpoint
+    2851         828 :     if (trajectory_tracking_in_progress_) {
+    2852             : 
+    2853         827 :       toggleHover(false);
+    2854             : 
+    2855             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2856             : 
+    2857       33907 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2858             : 
+    2859       33080 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2860             : 
+    2861       33080 :         int first_idx  = floor(first_time / trajectory_dt);
+    2862       33080 :         int second_idx = first_idx + 1;
+    2863             : 
+    2864       33080 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2865             : 
+    2866       33080 :         if (trajectory_tracking_loop_) {
+    2867             : 
+    2868           0 :           if (second_idx >= trajectory_size) {
+    2869           0 :             second_idx -= trajectory_size;
+    2870             :           }
+    2871             : 
+    2872           0 :           if (first_idx >= trajectory_size) {
+    2873           0 :             first_idx -= trajectory_size;
+    2874             :           }
+    2875             :         } else {
+    2876             : 
+    2877       33080 :           if (second_idx >= trajectory_size) {
+    2878           5 :             second_idx = trajectory_size - 1;
+    2879             :           }
+    2880             : 
+    2881       33080 :           if (first_idx >= trajectory_size) {
+    2882           4 :             first_idx = trajectory_size - 1;
+    2883             :           }
+    2884             :         }
+    2885             : 
+    2886       33080 :         des_x_trajectory_(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2887       33080 :         des_y_trajectory_(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2888       33080 :         des_z_trajectory_(i, 0) = (1.0 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2889             : 
+    2890       33080 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2891             :       }
+    2892             : 
+    2893             :       //}
+    2894             :     }
+    2895             : 
+    2896         828 :     trajectory_size_             = trajectory_size;
+    2897         828 :     trajectory_current_time_     = 0;
+    2898         828 :     trajectory_set_              = true;
+    2899         828 :     trajectory_tracking_loop_    = loop;
+    2900         828 :     trajectory_dt_               = trajectory_dt;
+    2901         828 :     trajectory_count_++;
+    2902             :   }
+    2903             : 
+    2904             :   //}
+    2905             : 
+    2906         828 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2907             : 
+    2908             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2909             : 
+    2910             :   {
+    2911             : 
+    2912        1656 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2913         828 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2914         828 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2915             : 
+    2916             :     {
+    2917        1656 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2918             : 
+    2919       42622 :       for (int i = 0; i < trajectory_size; i++) {
+    2920             : 
+    2921       41794 :         geometry_msgs::Pose new_pose;
+    2922             : 
+    2923       41794 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2924       41794 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2925       41794 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2926             : 
+    2927       41794 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2928             : 
+    2929       41794 :         debug_trajectory_out.poses.push_back(new_pose);
+    2930             :       }
+    2931             :     }
+    2932             : 
+    2933         828 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2934             : 
+    2935        1656 :     visualization_msgs::MarkerArray msg_out;
+    2936             : 
+    2937        1656 :     visualization_msgs::Marker marker;
+    2938             : 
+    2939         828 :     marker.header.stamp     = ros::Time::now();
+    2940         828 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2941         828 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2942         828 :     marker.color.a          = 1;
+    2943         828 :     marker.scale.x          = 0.05;
+    2944         828 :     marker.color.r          = 1;
+    2945         828 :     marker.color.g          = 0;
+    2946         828 :     marker.color.b          = 0;
+    2947         828 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2948             : 
+    2949             :     {
+    2950        1656 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2951             : 
+    2952       41794 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2953             : 
+    2954       40966 :         geometry_msgs::Point point1;
+    2955             : 
+    2956       40966 :         point1.x = des_x_whole_trajectory(i);
+    2957       40966 :         point1.y = des_y_whole_trajectory(i);
+    2958       40966 :         point1.z = des_z_whole_trajectory(i);
+    2959             : 
+    2960       40966 :         marker.points.push_back(point1);
+    2961             : 
+    2962       40966 :         geometry_msgs::Point point2;
+    2963             : 
+    2964       40966 :         point2.x = des_x_whole_trajectory(i + 1);
+    2965       40966 :         point2.y = des_y_whole_trajectory(i + 1);
+    2966       40966 :         point2.z = des_z_whole_trajectory(i + 1);
+    2967             : 
+    2968       40966 :         marker.points.push_back(point2);
+    2969             :       }
+    2970             :     }
+    2971             : 
+    2972         828 :     msg_out.markers.push_back(marker);
+    2973             : 
+    2974         828 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2975             :   }
+    2976             : 
+    2977             :   //}
+    2978             : 
+    2979         828 :   publishDiagnostics();
+    2980             : 
+    2981        1656 :   return std::tuple(true, "trajectory loaded", false);
+    2982             : }
+    2983             : 
+    2984             : //}
+    2985             : 
+    2986             : /* //{ setSinglePointReference() */
+    2987             : 
+    2988             : // fill the des_*_trajectory based on a single point
+    2989         696 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2990             : 
+    2991        1392 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2992             : 
+    2993         696 :   des_x_trajectory_.fill(x);
+    2994         696 :   des_y_trajectory_.fill(y);
+    2995         696 :   des_z_trajectory_.fill(z);
+    2996         696 :   des_heading_trajectory_.fill(heading);
+    2997         696 : }
+    2998             : 
+    2999             : //}
+    3000             : 
+    3001             : /* //{ setGoal() */
+    3002             : 
+    3003             : // set absolute goal
+    3004         270 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3005             : 
+    3006         270 :   double desired_heading = sradians::wrap(heading);
+    3007             : 
+    3008         540 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    3009             : 
+    3010         270 :   if (!use_heading) {
+    3011           0 :     desired_heading = mpc_x_heading(0, 0);
+    3012             :   }
+    3013             : 
+    3014         270 :   trajectory_tracking_in_progress_ = false;
+    3015             : 
+    3016         270 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    3017             : 
+    3018         270 :   publishDiagnostics();
+    3019         270 : }
+    3020             : 
+    3021             : //}
+    3022             : 
+    3023             : /* //{ setRelativeGoal() */
+    3024             : 
+    3025         426 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3026             : 
+    3027         852 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3028             : 
+    3029         426 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3030         426 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3031         426 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3032             : 
+    3033         426 :   double abs_heading = mpc_x_heading(0, 0);
+    3034             : 
+    3035         426 :   if (use_heading) {
+    3036           0 :     abs_heading += heading;
+    3037             :   }
+    3038             : 
+    3039         426 :   trajectory_tracking_in_progress_ = false;
+    3040             : 
+    3041         426 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3042             : 
+    3043         426 :   publishDiagnostics();
+    3044         426 : }
+    3045             : 
+    3046             : //}
+    3047             : 
+    3048             : /* toggleHover() //{ */
+    3049             : 
+    3050        1326 : void MpcTracker::toggleHover(bool in) {
+    3051             : 
+    3052        1326 :   if (in == false && hovering_in_progress_) {
+    3053             : 
+    3054         104 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3055             : 
+    3056         104 :     timer_hover_.stop();
+    3057             : 
+    3058         104 :     hovering_in_progress_ = false;
+    3059             : 
+    3060        1222 :   } else if (in == true && !hovering_in_progress_) {
+    3061             : 
+    3062         104 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3063             : 
+    3064         104 :     hovering_in_progress_ = true;
+    3065             : 
+    3066         104 :     timer_hover_.start();
+    3067             :   }
+    3068        1326 : }
+    3069             : 
+    3070             : //}
+    3071             : 
+    3072             : // | ------------------- trajectory tracking ------------------ |
+    3073             : 
+    3074             : /* startTrajectoryTrackingImpl() //{ */
+    3075             : 
+    3076           2 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3077             : 
+    3078           4 :   std::stringstream ss;
+    3079             : 
+    3080           2 :   if (trajectory_set_) {
+    3081             : 
+    3082           2 :     toggleHover(false);
+    3083             : 
+    3084             :     {
+    3085           2 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3086             : 
+    3087           2 :       trajectory_tracking_in_progress_ = true;
+    3088           2 :       trajectory_current_time_ = 0;
+    3089             :     }
+    3090             : 
+    3091           2 :     publishDiagnostics();
+    3092             : 
+    3093           2 :     ss << "trajectory tracking started";
+    3094           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3095             : 
+    3096           2 :     return std::tuple(true, ss.str());
+    3097             : 
+    3098             :   } else {
+    3099             : 
+    3100           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3101           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3102             : 
+    3103           0 :     return std::tuple(false, ss.str());
+    3104             :   }
+    3105             : }
+    3106             : 
+    3107             : //}
+    3108             : 
+    3109             : /* resumeTrajectoryTrackingImpl() //{ */
+    3110             : 
+    3111           1 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3112             : 
+    3113           2 :   std::stringstream ss;
+    3114             : 
+    3115           1 :   if (trajectory_set_) {
+    3116             : 
+    3117           1 :     toggleHover(false);
+    3118             : 
+    3119           1 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3120             : 
+    3121           1 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3122             : 
+    3123             :       {
+    3124           2 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3125             : 
+    3126           1 :         trajectory_tracking_in_progress_ = true;
+    3127             :       }
+    3128             : 
+    3129           1 :       ss << "trajectory tracking resumed";
+    3130           1 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3131             : 
+    3132           1 :       publishDiagnostics();
+    3133             : 
+    3134           1 :       return std::tuple(true, ss.str());
+    3135             : 
+    3136             :     } else {
+    3137             : 
+    3138           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3139           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3140             : 
+    3141           0 :       return std::tuple(false, ss.str());
+    3142             :     }
+    3143             : 
+    3144             :   } else {
+    3145             : 
+    3146           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3147           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3148             : 
+    3149           0 :     return std::tuple(false, ss.str());
+    3150             :   }
+    3151             : }
+    3152             : 
+    3153             : //}
+    3154             : 
+    3155             : /* stopTrajectoryTrackingImpl() //{ */
+    3156             : 
+    3157           1 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3158             : 
+    3159           1 :   std::stringstream ss;
+    3160             : 
+    3161           1 :   if (trajectory_tracking_in_progress_) {
+    3162             : 
+    3163           1 :     trajectory_tracking_in_progress_ = false;
+    3164             : 
+    3165           1 :     toggleHover(true);
+    3166             : 
+    3167           1 :     ss << "stopping trajectory tracking";
+    3168           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3169             : 
+    3170           1 :     publishDiagnostics();
+    3171             : 
+    3172             :   } else {
+    3173             : 
+    3174           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3175           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3176             :   }
+    3177             : 
+    3178           2 :   return std::tuple(true, ss.str());
+    3179             : }
+    3180             : 
+    3181             : //}
+    3182             : 
+    3183             : /* gotoTrajectoryStartImpl() //{ */
+    3184             : 
+    3185           2 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3186             : 
+    3187           4 :   std::stringstream ss;
+    3188             : 
+    3189           2 :   if (trajectory_set_) {
+    3190             : 
+    3191           2 :     toggleHover(false);
+    3192             : 
+    3193           2 :     trajectory_tracking_in_progress_ = false;
+    3194             : 
+    3195             :     {
+    3196           4 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3197             : 
+    3198           2 :       setGoal((*des_x_whole_trajectory_)(0), (*des_y_whole_trajectory_)(0), (*des_z_whole_trajectory_)(0), (*des_heading_whole_trajectory_)(0),
+    3199           2 :               trajectory_track_heading_);
+    3200             :     }
+    3201             : 
+    3202           2 :     publishDiagnostics();
+    3203             : 
+    3204           2 :     ss << "flying to the start of the trajectory";
+    3205           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3206             : 
+    3207           2 :     return std::tuple(true, ss.str());
+    3208             : 
+    3209             :   } else {
+    3210             : 
+    3211           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3212           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3213             : 
+    3214           0 :     return std::tuple(false, ss.str());
+    3215             :   }
+    3216             : }
+    3217             : 
+    3218             : //}
+    3219             : 
+    3220             : // | ------------------------- support ------------------------ |
+    3221             : 
+    3222             : /* //{ publishDiagnostics() */
+    3223             : 
+    3224       23974 : void MpcTracker::publishDiagnostics(void) {
+    3225             : 
+    3226       47948 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3227       47948 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3228       47948 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3229       47948 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3230             : 
+    3231       47948 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3232             : 
+    3233       23974 :   diagnostics.header.stamp    = ros::Time::now();
+    3234       23974 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3235             : 
+    3236       23974 :   diagnostics.active = is_active_;
+    3237             : 
+    3238       23974 :   diagnostics.uav_name = _uav_name_;
+    3239             : 
+    3240       23974 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3241       23974 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3242             : 
+    3243       23974 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3244       23974 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3245       23974 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3246             : 
+    3247       23973 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3248             : 
+    3249       47948 :   std::stringstream ss;
+    3250             : 
+    3251             :   {
+    3252       47948 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3253             : 
+    3254             :     // fill in if other UAVs are sending their trajectories
+    3255       23974 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3256             : 
+    3257       26119 :     while (u != other_uav_diagnostics_.end()) {
+    3258             : 
+    3259        2145 :       if (u->second.collision_avoidance_active) {
+    3260             : 
+    3261             :         // is the other's trajectory fresh enought?
+    3262        1444 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3263        1444 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3264        1444 :           ss << u->first.c_str() << ", ";
+    3265             :         }
+    3266             :       }
+    3267             : 
+    3268        2145 :       u++;
+    3269             :     }
+    3270             :   }
+    3271             : 
+    3272       47948 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3273             : 
+    3274       23974 :   if (ss.str().length() > 0) {
+    3275        1444 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3276       48930 :   } else if (collision_avoidance_enabled_ &&
+    3277       26400 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3278       18513 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3279             :   }
+    3280             : 
+    3281       23974 :   pub_diagnostics_.publish(diagnostics);
+    3282             : 
+    3283       47948 :   std_msgs::String string_msg;
+    3284             : 
+    3285       23974 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3286             : 
+    3287       22530 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3288             : 
+    3289             :   } else {
+    3290             : 
+    3291        1444 :     string_msg.data = "-id col_avoid I see: ";
+    3292             :   }
+    3293             : 
+    3294       23974 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3295             : 
+    3296       25418 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3297        1444 :       if (i == 0) {
+    3298        1444 :         string_msg.data += diagnostics.avoidance_active_uavs.at(i);
+    3299             :       } else {
+    3300           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs.at(i);
+    3301             :       }
+    3302             :     }
+    3303             : 
+    3304             :   } else {
+    3305             : 
+    3306           0 :     std::stringstream ss;
+    3307           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3308             : 
+    3309           0 :     string_msg.data += ss.str() + " UAVs";
+    3310             :   }
+    3311             : 
+    3312       23974 :   pub_status_string_.publish(string_msg);
+    3313       23974 : }
+    3314             : 
+    3315             : //}
+    3316             : 
+    3317             : /* debugPrintState() //{ */
+    3318             : 
+    3319           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3320             : 
+    3321           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3322             : 
+    3323           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));
+    3324           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));
+    3325           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));
+    3326           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));
+    3327           0 : }
+    3328             : 
+    3329             : //}
+    3330             : 
+    3331             : /* debugPrintMPCu() //{ */
+    3332             : 
+    3333           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3334             : 
+    3335           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3336           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3337             : 
+    3338           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3339           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3340             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3341           0 : }
+    3342             : 
+    3343             : //}
+    3344             : 
+    3345             : /* getCurrentTrajectoryIdx() //{ */
+    3346             : 
+    3347       24982 : int MpcTracker::getCurrentTrajectoryIdx() {
+    3348             : 
+    3349       24982 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3350       24982 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3351             : 
+    3352       24982 :   return floor(trajectory_current_time / trajectory_dt);
+    3353             : }
+    3354             : 
+    3355             : //}
+    3356             : 
+    3357             : /* increaseCurrentTrajectoryTime() //{ */
+    3358             : 
+    3359       15605 : void MpcTracker::increaseCurrentTrajectoryTime(const double dt) {
+    3360             : 
+    3361       15605 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3362       15605 :   auto [trajectory_size, trajectory_dt] = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_, trajectory_dt_);
+    3363             : 
+    3364       15605 :   trajectory_current_time += dt;
+    3365             : 
+    3366       15605 :   const double trajectory_duration = trajectory_size * trajectory_dt;
+    3367             : 
+    3368             :   // if the tracking idx hits the end of the trajectory
+    3369       15605 :   if (trajectory_current_time >= trajectory_duration) {
+    3370             : 
+    3371           5 :     if (trajectory_tracking_loop_) {
+    3372             : 
+    3373             :       // reset the idx
+    3374           0 :       trajectory_current_time -= trajectory_duration;
+    3375             : 
+    3376           0 :       ROS_INFO("[MpcTracker]: trajectory looped");
+    3377             : 
+    3378             :     } else {
+    3379             : 
+    3380           5 :       trajectory_tracking_in_progress_ = false;
+    3381             : 
+    3382           5 :       ROS_INFO("[MpcTracker]: done tracking trajectory, current time in trajectory=%f, trajectory_duration=%f", trajectory_current_time, trajectory_duration);
+    3383             :     }
+    3384             :   }
+    3385             : 
+    3386       15605 :   if (trajectory_tracking_in_progress_) {
+    3387       15600 :     mrs_lib::set_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time, trajectory_current_time_);
+    3388             :   }
+    3389       15605 : }
+    3390             : 
+    3391             : //}
+    3392             : 
+    3393             : // --------------------------------------------------------------
+    3394             : // |                           timers                           |
+    3395             : // --------------------------------------------------------------
+    3396             : 
+    3397             : /* //{ timerDiagnostics() */
+    3398             : 
+    3399             : // published diagnostics in reguar intervals
+    3400       22404 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3401             : 
+    3402       22404 :   if (!is_initialized_)
+    3403           0 :     return;
+    3404             : 
+    3405       67212 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3406       67212 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3407             : 
+    3408       22404 :   publishDiagnostics();
+    3409             : }
+    3410             : 
+    3411             : //}
+    3412             : 
+    3413             : /* //{ timerMPC() */
+    3414             : 
+    3415       83565 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3416             : 
+    3417       83565 :   if (odometry_reset_in_progress_) {
+    3418           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3419           0 :     return;
+    3420             :   }
+    3421             : 
+    3422       83565 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3423             : 
+    3424       83565 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3425             : 
+    3426       83565 :   bool started_with_invalid = mpc_result_invalid_;
+    3427             : 
+    3428       83565 :   if (!is_active_) {
+    3429           0 :     return;
+    3430             :   }
+    3431             : 
+    3432       83565 :   if (!is_initialized_) {
+    3433           0 :     return;
+    3434             :   }
+    3435             : 
+    3436      250695 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3437      250695 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3438             : 
+    3439       83565 :   ros::Time     begin = ros::Time::now();
+    3440       83565 :   ros::Time     end;
+    3441       83565 :   ros::Duration interval;
+    3442             :   int           trajectory_id;
+    3443             : 
+    3444             :   // if we are tracking trajectory, copy the setpoint
+    3445       83565 :   if (trajectory_tracking_in_progress_) {
+    3446             : 
+    3447       31210 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3448       31210 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3449             :     double   trajectory_dt;
+    3450             :     int      trajectory_size;
+    3451             :     {
+    3452       15605 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3453             : 
+    3454       15605 :       des_x_trajectory       = des_x_trajectory_;
+    3455       15605 :       des_y_trajectory       = des_y_trajectory_;
+    3456       15605 :       des_z_trajectory       = des_z_trajectory_;
+    3457       15605 :       des_heading_trajectory = des_heading_trajectory_;
+    3458             : 
+    3459       15605 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3460       15605 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3461       15605 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3462       15605 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3463             : 
+    3464       15605 :       trajectory_size = trajectory_size_;
+    3465       15605 :       trajectory_dt   = trajectory_dt_;
+    3466             : 
+    3467       15605 :       trajectory_id = des_whole_trajectory_id_;
+    3468             :     }
+    3469             : 
+    3470             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3471             : 
+    3472       15605 :     const double dt_from_last_update = (event.current_real - event.last_real).toSec();
+    3473             : 
+    3474       15605 :     if (dt_from_last_update > 0.0 && dt_from_last_update < 1.0) {
+    3475       15605 :       increaseCurrentTrajectoryTime(dt_from_last_update);
+    3476             :     } else {
+    3477           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: timerMpc(): dt from the last update is not normal, not iterating trajectory, dt=%.4f", dt_from_last_update);
+    3478             :     }
+    3479             : 
+    3480       15605 :     auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3481             : 
+    3482      639805 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3483             : 
+    3484      624200 :       auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3485             : 
+    3486      624200 :       double first_time = trajectory_current_time + dt1 + i * _dt2_;
+    3487             : 
+    3488      624200 :       int first_idx  = int(floor(first_time / trajectory_dt));
+    3489             : 
+    3490      624200 :       int second_idx = first_idx + 1;
+    3491             : 
+    3492      624200 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3493             : 
+    3494      624200 :       if (trajectory_tracking_loop_) {
+    3495             : 
+    3496           0 :         if (second_idx >= trajectory_size) {
+    3497           0 :           second_idx = second_idx % trajectory_size;
+    3498             :         }
+    3499             : 
+    3500           0 :         if (first_idx >= trajectory_size) {
+    3501           0 :           first_idx = first_idx % trajectory_size;
+    3502             :         }
+    3503             : 
+    3504             :       } else {
+    3505             : 
+    3506      624200 :         if (second_idx >= trajectory_size) {
+    3507       86494 :           second_idx = trajectory_size - 1;
+    3508             :         }
+    3509             : 
+    3510      624200 :         if (first_idx >= trajectory_size) {
+    3511       79568 :           first_idx = trajectory_size - 1;
+    3512             :         }
+    3513             :       }
+    3514             : 
+    3515      624200 :       if (first_idx < 0 || first_idx > (trajectory_size-1) || second_idx < 0 || second_idx > (trajectory_size-1)) {
+    3516           0 :         ROS_ERROR_THROTTLE(0.1, "[MpcTracker]: trying to index out range when interpolating the trajectory! first_idx=%d, second_idx=%d, trajectory_size=%d", first_idx, second_idx, trajectory_size);
+    3517           0 :         continue;
+    3518             :       }
+    3519             : 
+    3520      624200 :       des_x_trajectory(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    3521      624200 :       des_y_trajectory(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    3522      624200 :       des_z_trajectory(i, 0) = (1.0 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    3523             : 
+    3524      624200 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    3525             :     }
+    3526             : 
+    3527             :     {
+    3528       31210 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3529             : 
+    3530       15605 :       des_x_trajectory_       = des_x_trajectory;
+    3531       15605 :       des_y_trajectory_       = des_y_trajectory;
+    3532       15605 :       des_z_trajectory_       = des_z_trajectory;
+    3533       15605 :       des_heading_trajectory_ = des_heading_trajectory;
+    3534             :     }
+    3535             : 
+    3536             :     //}
+    3537             : 
+    3538             :     // | ---------- publish the current trajectory point ---------- |
+    3539             : 
+    3540       15605 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3541             : 
+    3542       31210 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    3543       15605 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    3544       15605 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    3545             : 
+    3546       15605 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    3547       15605 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    3548       15605 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    3549             : 
+    3550       15605 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    3551             : 
+    3552       15605 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    3553             : 
+    3554             :   } else {
+    3555             : 
+    3556       67960 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3557             : 
+    3558       67960 :     trajectory_id = des_whole_trajectory_id_;
+    3559             :   }
+    3560             : 
+    3561       83565 :   manageConstraints();
+    3562             : 
+    3563       83565 :   calculateMPC();
+    3564             : 
+    3565       83565 :   end      = ros::Time::now();
+    3566       83565 :   interval = end - begin;
+    3567             : 
+    3568             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3569             : 
+    3570       83565 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3571             : 
+    3572       83565 :   if (mpc_rtf_ >= 1.0) {
+    3573           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3574             :   }
+    3575             : 
+    3576             :   /* publish predicted future //{ */
+    3577             : 
+    3578             :   {
+    3579      167130 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3580       83565 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3581       83565 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3582             : 
+    3583             :     {
+    3584      167130 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3585             : 
+    3586     3426169 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3587             : 
+    3588     3342600 :         geometry_msgs::Pose newPose;
+    3589             : 
+    3590     3342600 :         newPose.position.x = predicted_trajectory_(i * MPC_N_STATES);
+    3591     3342600 :         newPose.position.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3592     3342600 :         newPose.position.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3593             : 
+    3594             :         try {
+    3595     3342600 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * MPC_N_STATES));
+    3596           0 :         } catch (...) {
+    3597           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3598             :         }
+    3599             : 
+    3600     3342600 :         debug_trajectory_out.poses.push_back(newPose);
+    3601             :       }
+    3602             :     }
+    3603             : 
+    3604       83565 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3605             :   }
+    3606             : 
+    3607             :   //}
+    3608             : 
+    3609             :   /* publish full state prediction //{ */
+    3610             : 
+    3611             :   {
+    3612      167130 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3613       83565 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3614       83565 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3615             : 
+    3616       83565 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3617             : 
+    3618       83565 :     prediction_fs_out.input_id = trajectory_id;
+    3619             : 
+    3620             :     {
+    3621      167130 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3622             : 
+    3623     3426169 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3624             : 
+    3625     3342600 :         if (i == 0) {
+    3626       83565 :           stamp += ros::Duration(0.01);
+    3627             :         } else {
+    3628     3259031 :           stamp += ros::Duration(0.2);
+    3629             :         }
+    3630             : 
+    3631     3342600 :         prediction_fs_out.stamps.push_back(stamp);
+    3632             : 
+    3633             :         {  // position
+    3634     3342600 :           geometry_msgs::Point point;
+    3635             : 
+    3636     3342600 :           point.x = predicted_trajectory_(i * MPC_N_STATES);
+    3637     3342600 :           point.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3638     3342600 :           point.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3639             : 
+    3640     3342600 :           prediction_fs_out.position.push_back(point);
+    3641             :         }
+    3642             : 
+    3643             :         {  // velocity
+    3644     3342600 :           geometry_msgs::Vector3 vector;
+    3645             : 
+    3646     3342600 :           vector.x = predicted_trajectory_(i * MPC_N_STATES + 1);
+    3647     3342600 :           vector.y = predicted_trajectory_(i * MPC_N_STATES + 5);
+    3648     3342600 :           vector.z = predicted_trajectory_(i * MPC_N_STATES + 9);
+    3649             : 
+    3650     3342600 :           prediction_fs_out.velocity.push_back(vector);
+    3651             :         }
+    3652             : 
+    3653             :         {  // acceleration
+    3654     3342600 :           geometry_msgs::Vector3 vector3;
+    3655             : 
+    3656     3342600 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 2);
+    3657     3342600 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 6);
+    3658     3342600 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 10);
+    3659             : 
+    3660     3342600 :           prediction_fs_out.acceleration.push_back(vector3);
+    3661             :         }
+    3662             : 
+    3663             :         {  // jerk
+    3664     3342600 :           geometry_msgs::Vector3 vector3;
+    3665             : 
+    3666     3342600 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 3);
+    3667     3342600 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 7);
+    3668     3342600 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 11);
+    3669             : 
+    3670     3342600 :           prediction_fs_out.jerk.push_back(vector3);
+    3671             :         }
+    3672             : 
+    3673             :         {
+    3674             :           // heading
+    3675             : 
+    3676     3342600 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * MPC_N_STATES));
+    3677     3342600 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 1));
+    3678     3342600 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 2));
+    3679     3342600 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 3));
+    3680             :         }
+    3681             :       }
+    3682             :     }
+    3683             : 
+    3684             :     {
+    3685      167130 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3686       83565 :       prediction_full_state_ = prediction_fs_out;
+    3687             :     }
+    3688             :   }
+    3689             : 
+    3690             :   //}
+    3691             : 
+    3692       83565 :   mpc_computed_ = true;
+    3693             : 
+    3694       83565 :   if (started_with_invalid) {
+    3695             : 
+    3696           5 :     mpc_result_invalid_ = false;
+    3697             : 
+    3698           5 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3699             :   }
+    3700             : }
+    3701             : 
+    3702             : //}
+    3703             : 
+    3704             : /* timerVelocityTracking() //{ */
+    3705             : 
+    3706         825 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3707             : 
+    3708         825 :   if (!is_initialized_) {
+    3709           3 :     return;
+    3710             :   }
+    3711             : 
+    3712         825 :   if (!velocity_tracking_active_) {
+    3713           0 :     return;
+    3714             :   }
+    3715             : 
+    3716        1650 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3717             :   mrs_lib::ScopeTimer timer =
+    3718        1650 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3719             : 
+    3720             :   // stop the timer when timeout
+    3721         825 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3722             : 
+    3723           3 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3724           3 :     timer_velocity_tracking_.stop();
+    3725             : 
+    3726           3 :     toggleHover(true);
+    3727             : 
+    3728           3 :     velocity_tracking_active_ = false;
+    3729             : 
+    3730           3 :     return;
+    3731             :   }
+    3732             : 
+    3733        1644 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3734         822 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3735             : 
+    3736        1644 :   mrs_msgs::TrajectoryReference trajectory;
+    3737             : 
+    3738         822 :   trajectory.fly_now         = true;
+    3739         822 :   trajectory.use_heading     = true;
+    3740         822 :   trajectory.dt              = 0.2;
+    3741         822 :   trajectory.header.stamp    = ros::Time::now();
+    3742         822 :   trajectory.header.frame_id = "";
+    3743             : 
+    3744         822 :   double x       = mpc_x(0, 0);
+    3745         822 :   double y       = mpc_x(4, 0);
+    3746         822 :   double z       = mpc_x(8, 0);
+    3747         822 :   double heading = mpc_x_heading(0, 0);
+    3748             : 
+    3749       41922 :   for (int i = 0; i < 50; i++) {
+    3750             : 
+    3751       41100 :     mrs_msgs::Reference reference;
+    3752       41100 :     reference.position.x = x;
+    3753       41100 :     reference.position.y = y;
+    3754       41100 :     reference.position.z = z;
+    3755       41100 :     reference.heading    = heading;
+    3756             : 
+    3757       41100 :     trajectory.points.push_back(reference);
+    3758             : 
+    3759       41100 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3760       41100 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3761       41100 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3762             : 
+    3763       41100 :     if (velocity_reference.use_altitude) {
+    3764           0 :       z = velocity_reference.altitude;
+    3765             :     }
+    3766             : 
+    3767       41100 :     if (velocity_reference.use_heading_rate) {
+    3768       37800 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3769        3300 :     } else if (velocity_reference.use_heading) {
+    3770           0 :       heading = velocity_reference.heading;
+    3771             :     }
+    3772             :   }
+    3773             : 
+    3774        1644 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3775             : }
+    3776             : 
+    3777             : //}
+    3778             : 
+    3779             : /* //{ timerAvoidanceTrajectory() */
+    3780             : 
+    3781        4439 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3782             : 
+    3783        4439 :   if (!is_active_) {
+    3784        2120 :     return;
+    3785             :   }
+    3786             : 
+    3787        2354 :   if (!is_initialized_) {
+    3788           0 :     return;
+    3789             :   }
+    3790             : 
+    3791        2354 :   if (!sh_estimation_diag_.hasMsg()) {
+    3792           0 :     return;
+    3793             :   } else {
+    3794             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3795             : 
+    3796        2354 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3797        2354 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3798             : 
+    3799        2354 :     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();
+    3800        2354 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3801             : 
+    3802        2354 :     if (!got_gps_est && !got_rtk_est) {
+    3803          35 :       return;
+    3804             :     }
+    3805             :   }
+    3806             : 
+    3807        4638 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3808             :   mrs_lib::ScopeTimer timer =
+    3809        4638 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3810             : 
+    3811        2319 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3812        2319 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3813             : 
+    3814        2319 :   if (future_was_predicted_) {
+    3815             : 
+    3816        2318 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3817             : 
+    3818             :     // fill last trajectory with initial data
+    3819        2318 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3820        2318 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3821        2318 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3822        2318 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3823        2318 :     avoidance_trajectory.points.clear();
+    3824        2318 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3825        2318 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3826        2318 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3827        2318 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3828             : 
+    3829        4636 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3830             : 
+    3831        2318 :     if (!res) {
+    3832             : 
+    3833           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3834           0 :       ROS_WARN_STREAM_ONCE(message);
+    3835           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3836           0 :       return;
+    3837             : 
+    3838             :     } else {
+    3839             : 
+    3840        4636 :       geometry_msgs::TransformStamped tf = res.value();
+    3841             : 
+    3842       95038 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3843             : 
+    3844             :         // original point
+    3845      185440 :         geometry_msgs::PoseStamped original_point;
+    3846             : 
+    3847       92720 :         original_point.header.stamp    = ros::Time::now();
+    3848       92720 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3849             : 
+    3850       92720 :         original_point.pose.position.x = predicted_trajectory(i * MPC_N_STATES);
+    3851       92720 :         original_point.pose.position.y = predicted_trajectory(i * MPC_N_STATES + 4);
+    3852       92720 :         original_point.pose.position.z = predicted_trajectory(i * MPC_N_STATES + 8);
+    3853             : 
+    3854       92720 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3855             : 
+    3856      185440 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3857             : 
+    3858       92720 :         if (res) {
+    3859             : 
+    3860       92720 :           mrs_msgs::FuturePoint new_point;
+    3861             : 
+    3862       92720 :           new_point.x = res.value().pose.position.x;
+    3863       92720 :           new_point.y = res.value().pose.position.y;
+    3864       92720 :           new_point.z = res.value().pose.position.z;
+    3865             : 
+    3866       92720 :           avoidance_trajectory.points.push_back(new_point);
+    3867             : 
+    3868             :         } else {
+    3869             : 
+    3870           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3871           0 :           ROS_WARN_STREAM_ONCE(message);
+    3872           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3873             :         }
+    3874             :       }
+    3875             :     }
+    3876             : 
+    3877        2318 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3878             :   }
+    3879             : }
+    3880             : 
+    3881             : //}
+    3882             : 
+    3883             : /* timerHover() //{ */
+    3884             : 
+    3885         327 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3886             : 
+    3887         654 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3888             : 
+    3889         981 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3890         981 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3891             : 
+    3892         327 :   setRelativeGoal(0, 0, 0, 0, false);
+    3893             : 
+    3894         327 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3895             : 
+    3896          82 :     toggleHover(false);
+    3897             : 
+    3898          82 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3899             :   }
+    3900         327 : }
+    3901             : 
+    3902             : //}
+    3903             : 
+    3904             : }  // namespace mpc_tracker
+    3905             : 
+    3906             : }  // namespace mrs_uav_trackers
+    3907             : 
+    3908             : #include <pluginlib/class_list_macros.h>
+    3909         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..7ff11eecf9 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.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:6444814.3 %
Date:2024-10-08 22:31:24Functions: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 +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
<unnamed>14.3 %64 / 44836.8 %7 / 19
+
+
+ + + + +
Generated by: LCOV version 1.14
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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:6444814.3 %
Date:2024-10-08 22:31:24Functions: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&)6
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()20
(anonymous namespace)::ProxyExec0::ProxyExec0()108
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>)108
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)380
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)139435
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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:6444814.3 %
Date:2024-10-08 22:31:24Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()20
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>)108
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&)380
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&)309
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&)6
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&)139435
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:6444814.3 %
Date:2024-10-08 22:31:24Functions:71936.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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             : #include <mrs_lib/service_client_handler.h>
+      18             : 
+      19             : #include <visualization_msgs/Marker.h>
+      20             : #include <visualization_msgs/MarkerArray.h>
+      21             : 
+      22             : #include <mrs_msgs/String.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : /* defines //{ */
+      27             : 
+      28             : #define STOP_THR 1e-3
+      29             : 
+      30             : //}
+      31             : 
+      32             : /* using //{ */
+      33             : 
+      34             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      35             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      36             : 
+      37             : using radians  = mrs_lib::geometry::radians;
+      38             : using sradians = mrs_lib::geometry::sradians;
+      39             : 
+      40             : //}
+      41             : 
+      42             : namespace mrs_uav_trackers
+      43             : {
+      44             : 
+      45             : namespace speed_tracker
+      46             : {
+      47             : 
+      48             : /* //{ class SpeedTracker */
+      49             : 
+      50             : class SpeedTracker : public mrs_uav_managers::Tracker {
+      51             : public:
+      52             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      53             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      54             : 
+      55             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      56             :   void                          deactivate(void);
+      57             :   bool                          resetStatic(void);
+      58             : 
+      59             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      60             :   const mrs_msgs::TrackerStatus             getStatus();
+      61             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      62             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      63             : 
+      64             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      65             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      66             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      67             : 
+      68             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      69             : 
+      70             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      71             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      72             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      73             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      74             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      75             : 
+      76             : private:
+      77             :   ros::NodeHandle nh_;
+      78             : 
+      79             :   bool callbacks_enabled_ = true;
+      80             : 
+      81             :   std::string _uav_name_;
+      82             : 
+      83             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      84             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      85             : 
+      86             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> ph_rviz_marker_;
+      87             : 
+      88             :   // | ------------------------ uav state ----------------------- |
+      89             : 
+      90             :   mrs_msgs::UavState uav_state_;
+      91             :   bool               got_uav_state_ = false;
+      92             :   std::mutex         mutex_uav_state_;
+      93             : 
+      94             :   // | ------------------- tracker constraints ------------------ |
+      95             : 
+      96             :   mrs_msgs::DynamicsConstraints constraints_;
+      97             :   std::mutex                    mutex_constraints_;
+      98             : 
+      99             :   // | ---------------- the tracker's inner state --------------- |
+     100             : 
+     101             :   std::atomic<bool> is_initialized_  = false;
+     102             :   std::atomic<bool> is_active_       = false;
+     103             :   std::atomic<bool> first_iteration_ = true;
+     104             : 
+     105             :   double _external_command_timeout_;
+     106             : 
+     107             :   mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand> sh_command_;
+     108             : 
+     109             :   void callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg);
+     110             : 
+     111             :   // stores the post-processed and transformed command
+     112             :   mrs_msgs::SpeedTrackerCommand command_;
+     113             :   std::mutex                    mutex_command_;
+     114             :   ros::Time                     last_command_time_;
+     115             :   std::atomic<bool>             getting_cmd_ = false;
+     116             : 
+     117             :   // | ------------------------ profiler ------------------------ |
+     118             : 
+     119             :   mrs_lib::Profiler profiler_;
+     120             :   bool              _profiler_enabled_ = false;
+     121             : 
+     122             :   // | --------------------- service clients -------------------- |
+     123             : 
+     124             :   mrs_lib::ServiceClientHandler<mrs_msgs::String> sch_switch_tracker_;
+     125             : 
+     126             :   std::string _backup_tracker_;
+     127             : 
+     128             :   std::future<mrs_msgs::String> switch_tracker_future_;
+     129             : 
+     130             :   std::atomic<bool> switch_tracker_called_ = false;
+     131             : };
+     132             : 
+     133             : //}
+     134             : 
+     135             : // | -------------- tracker's interface routines -------------- |
+     136             : 
+     137             : /* //{ initialize() */
+     138             : 
+     139         108 : bool SpeedTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     140             :                               std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     141             : 
+     142         108 :   this->common_handlers_  = common_handlers;
+     143         108 :   this->private_handlers_ = private_handlers;
+     144             : 
+     145         108 :   _uav_name_ = common_handlers->uav_name;
+     146             : 
+     147         108 :   nh_ = nh;
+     148             : 
+     149         108 :   ros::Time::waitForValid();
+     150             : 
+     151             :   // --------------------------------------------------------------
+     152             :   // |                     loading parameters                     |
+     153             :   // --------------------------------------------------------------
+     154             : 
+     155             :   // | ---------------- load parent's parameters ---------------- |
+     156             : 
+     157         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     158             : 
+     159         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     160             : 
+     161         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     162           0 :     ROS_ERROR("[SpeedTracker]: Could not load all parameters!");
+     163           0 :     return false;
+     164             :   }
+     165             : 
+     166             :   // | ---------------- load plugin's parameters ---------------- |
+     167             : 
+     168         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     169         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     170             : 
+     171         216 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     172             : 
+     173         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     174             : 
+     175         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "backup_tracker", _backup_tracker_);
+     176             : 
+     177         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     178           0 :     ROS_ERROR("[SpeedTracker]: could not load all parameters!");
+     179           0 :     return false;
+     180             :   }
+     181             : 
+     182             :   // | ------------------------ profiler ------------------------ |
+     183             : 
+     184         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     185             : 
+     186             :   // | ----------------------- subscribers ---------------------- |
+     187             : 
+     188         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     189         108 :   shopts.nh              = nh_;
+     190         108 :   shopts.node_name       = "SpeedTracker";
+     191         108 :   shopts.threadsafe      = true;
+     192         108 :   shopts.autostart       = true;
+     193         108 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     194             : 
+     195         108 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     196             : 
+     197             :   // | ----------------------- publishers ----------------------- |
+     198             : 
+     199         108 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     200             : 
+     201             :   // | --------------------- service clients -------------------- |
+     202             : 
+     203         108 :   sch_switch_tracker_ = mrs_lib::ServiceClientHandler<mrs_msgs::String>(common_handlers->parent_nh, "switch_tracker");
+     204             : 
+     205             :   // | --------------------- finish the init -------------------- |
+     206             : 
+     207         108 :   is_initialized_ = true;
+     208             : 
+     209         108 :   ROS_INFO("[SpeedTracker]: initialized");
+     210             : 
+     211         108 :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* //{ activate() */
+     217             : 
+     218           0 : std::tuple<bool, std::string> SpeedTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     219             : 
+     220           0 :   std::stringstream ss;
+     221             : 
+     222           0 :   if (!got_uav_state_) {
+     223           0 :     ss << "odometry not set";
+     224           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     225           0 :     return std::tuple(false, ss.str());
+     226             :   }
+     227             : 
+     228           0 :   if (!getting_cmd_) {
+     229             : 
+     230           0 :     std::scoped_lock lock(mutex_command_);
+     231             : 
+     232           0 :     command_.header.stamp    = ros::Time(0);
+     233           0 :     command_.header.frame_id = last_tracker_cmd->header.frame_id;
+     234             : 
+     235           0 :     command_.use_velocity     = true;
+     236           0 :     command_.use_acceleration = false;
+     237           0 :     command_.use_force        = false;
+     238           0 :     command_.use_z            = false;
+     239           0 :     command_.use_heading_rate = false;
+     240             : 
+     241           0 :     command_.velocity.x = 0;
+     242           0 :     command_.velocity.y = 0;
+     243           0 :     command_.velocity.z = 0;
+     244             : 
+     245           0 :     if (last_tracker_cmd->use_heading) {
+     246           0 :       command_.heading     = last_tracker_cmd->heading;
+     247           0 :       command_.use_heading = true;
+     248             :     } else {
+     249           0 :       command_.use_heading = false;
+     250             :     }
+     251             :   }
+     252             : 
+     253           0 :   is_active_       = true;
+     254           0 :   first_iteration_ = true;
+     255             : 
+     256           0 :   ss << "activated";
+     257           0 :   ROS_INFO_STREAM("[SpeedTracker]: " << ss.str());
+     258             : 
+     259           0 :   return std::tuple(true, ss.str());
+     260             : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* //{ deactivate() */
+     265             : 
+     266          20 : void SpeedTracker::deactivate(void) {
+     267             : 
+     268          20 :   is_active_   = false;
+     269          20 :   getting_cmd_ = false;
+     270             : 
+     271          20 :   ROS_INFO("[SpeedTracker]: deactivated");
+     272          20 : }
+     273             : 
+     274             : //}
+     275             : 
+     276             : /* //{ resetStatic() */
+     277             : 
+     278           0 : bool SpeedTracker::resetStatic(void) {
+     279             : 
+     280           0 :   return false;
+     281             : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : /* //{ update() */
+     286             : 
+     287      139435 : std::optional<mrs_msgs::TrackerCommand> SpeedTracker::update(const mrs_msgs::UavState &                                          uav_state,
+     288             :                                                              [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     289             : 
+     290      418305 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     291      418305 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     292             : 
+     293             :   {
+     294      139435 :     std::scoped_lock lock(mutex_uav_state_);
+     295             : 
+     296      139435 :     uav_state_ = uav_state;
+     297             : 
+     298      139435 :     got_uav_state_ = true;
+     299             :   }
+     300             : 
+     301             :   double uav_heading;
+     302             : 
+     303             :   try {
+     304      139435 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     305             :   }
+     306           0 :   catch (...) {
+     307           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     308             : 
+     309           0 :     return {};
+     310             :   }
+     311             : 
+     312             :   // up to this part the update() method is evaluated even when the tracker is not active
+     313      139435 :   if (!is_active_) {
+     314      139435 :     return {};
+     315             :   }
+     316             : 
+     317           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     318             : 
+     319             :   // timeout the external command
+     320           0 :   if (getting_cmd_ && (ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     321             : 
+     322           0 :     ROS_WARN("[SpeedTracker]: command timeouted");
+     323           0 :     getting_cmd_ = false;
+     324             : 
+     325           0 :     mrs_msgs::String srv;
+     326           0 :     srv.request.value = _backup_tracker_;
+     327             : 
+     328           0 :     switch_tracker_future_ = sch_switch_tracker_.callAsync(srv);
+     329             : 
+     330           0 :     switch_tracker_called_ = true;
+     331             :   }
+     332             : 
+     333           0 :   if (switch_tracker_called_ && switch_tracker_future_.wait_for(std::chrono::milliseconds(1)) == std::future_status::ready) {
+     334             : 
+     335           0 :     switch_tracker_called_ = false;
+     336             : 
+     337           0 :     if (!switch_tracker_future_.get().response.success) {
+     338           0 :       ROS_ERROR("[SpeedTracker]: failed to switch to backup tracker");
+     339           0 :       return {};
+     340             :     }
+     341             : 
+     342           0 :     switch_tracker_future_ = std::future<mrs_msgs::String>();
+     343             :   }
+     344             : 
+     345           0 :   auto command = mrs_lib::get_mutexed(mutex_command_, command_);
+     346             : 
+     347           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     348             : 
+     349           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     350           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     351             : 
+     352           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     353           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     354             : 
+     355           0 :   if (command.use_velocity) {
+     356           0 :     tracker_cmd.velocity.x              = command.velocity.x;
+     357           0 :     tracker_cmd.velocity.y              = command.velocity.y;
+     358           0 :     tracker_cmd.velocity.z              = command.velocity.z;
+     359           0 :     tracker_cmd.use_velocity_horizontal = true;
+     360           0 :     tracker_cmd.use_velocity_vertical   = true;
+     361             :   } else {
+     362           0 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     363           0 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     364           0 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     365           0 :     tracker_cmd.use_velocity_horizontal = false;
+     366           0 :     tracker_cmd.use_velocity_vertical   = false;
+     367             :   }
+     368             : 
+     369           0 :   if (command.use_z) {
+     370           0 :     tracker_cmd.position.z            = command.z;
+     371           0 :     tracker_cmd.use_position_vertical = true;
+     372             :   } else {
+     373           0 :     tracker_cmd.position.z            = uav_state.pose.position.z;
+     374           0 :     tracker_cmd.use_position_vertical = false;
+     375             :   }
+     376             : 
+     377           0 :   if (command.use_acceleration) {
+     378           0 :     tracker_cmd.acceleration.x   = command.acceleration.x;
+     379           0 :     tracker_cmd.acceleration.y   = command.acceleration.y;
+     380           0 :     tracker_cmd.acceleration.z   = command.acceleration.z;
+     381           0 :     tracker_cmd.use_acceleration = true;
+     382           0 :   } else if (command.use_force) {
+     383           0 :     tracker_cmd.acceleration.x   = command.force.x / last_control_output.diagnostics.total_mass;
+     384           0 :     tracker_cmd.acceleration.y   = command.force.y / last_control_output.diagnostics.total_mass;
+     385           0 :     tracker_cmd.acceleration.z   = command.force.z / last_control_output.diagnostics.total_mass;
+     386           0 :     tracker_cmd.use_acceleration = true;
+     387             :   } else {
+     388           0 :     tracker_cmd.acceleration.x   = 0;
+     389           0 :     tracker_cmd.acceleration.y   = 0;
+     390           0 :     tracker_cmd.acceleration.z   = 0;
+     391           0 :     tracker_cmd.use_acceleration = false;
+     392             :   }
+     393             : 
+     394           0 :   if (command.use_heading) {
+     395           0 :     tracker_cmd.heading     = command.heading;
+     396           0 :     tracker_cmd.use_heading = true;
+     397             :   } else {
+     398           0 :     tracker_cmd.heading     = uav_heading;
+     399           0 :     tracker_cmd.use_heading = false;
+     400             :   }
+     401             : 
+     402           0 :   if (command.use_heading_rate) {
+     403           0 :     tracker_cmd.heading_rate     = command.heading_rate;
+     404           0 :     tracker_cmd.use_heading_rate = true;
+     405             :   } else {
+     406           0 :     tracker_cmd.heading_rate     = uav_state.velocity.angular.z;
+     407           0 :     tracker_cmd.use_heading_rate = false;
+     408             :   }
+     409             : 
+     410           0 :   return {tracker_cmd};
+     411             : }
+     412             : 
+     413             : //}
+     414             : 
+     415             : /* //{ getStatus() */
+     416             : 
+     417           0 : const mrs_msgs::TrackerStatus SpeedTracker::getStatus() {
+     418             : 
+     419           0 :   mrs_msgs::TrackerStatus tracker_status;
+     420             : 
+     421           0 :   tracker_status.active            = is_active_;
+     422           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     423             : 
+     424           0 :   if (!tracker_status.active || first_iteration_)
+     425           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     426             :   else
+     427           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+     428             : 
+     429           0 :   return tracker_status;
+     430             : }
+     431             : 
+     432             : //}
+     433             : 
+     434             : /* //{ enableCallbacks() */
+     435             : 
+     436         309 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     437             : 
+     438         618 :   std_srvs::SetBoolResponse res;
+     439         618 :   std::stringstream         ss;
+     440             : 
+     441         309 :   if (cmd->data != callbacks_enabled_) {
+     442             : 
+     443          19 :     callbacks_enabled_ = cmd->data;
+     444             : 
+     445          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     446          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     447             : 
+     448             :   } else {
+     449             : 
+     450         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     451         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     452             :   }
+     453             : 
+     454         309 :   res.message = ss.str();
+     455         309 :   res.success = true;
+     456             : 
+     457         618 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : /* switchOdometrySource() //{ */
+     463             : 
+     464           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     465             : 
+     466           0 :   return std_srvs::TriggerResponse::Ptr();
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* //{ hover() */
+     472             : 
+     473           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     474             : 
+     475           0 :   ROS_WARN("[SpeedTracker]: initiating hover");
+     476             : 
+     477           0 :   getting_cmd_ = false;
+     478             : 
+     479           0 :   mrs_msgs::String srv;
+     480           0 :   srv.request.value = _backup_tracker_;
+     481             : 
+     482           0 :   switch_tracker_future_ = sch_switch_tracker_.callAsync(srv);
+     483             : 
+     484           0 :   switch_tracker_called_ = true;
+     485             : 
+     486           0 :   std::stringstream ss;
+     487           0 :   ss << "initiating hover";
+     488             : 
+     489           0 :   std_srvs::TriggerResponse res;
+     490           0 :   res.success = true;
+     491           0 :   res.message = ss.str();
+     492             : 
+     493           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     494             : }
+     495             : 
+     496             : //}
+     497             : 
+     498             : /* //{ startTrajectoryTracking() */
+     499             : 
+     500           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     501           0 :   return std_srvs::TriggerResponse::Ptr();
+     502             : }
+     503             : 
+     504             : //}
+     505             : 
+     506             : /* //{ stopTrajectoryTracking() */
+     507             : 
+     508           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     509           0 :   return std_srvs::TriggerResponse::Ptr();
+     510             : }
+     511             : 
+     512             : //}
+     513             : 
+     514             : /* //{ resumeTrajectoryTracking() */
+     515             : 
+     516           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     517           0 :   return std_srvs::TriggerResponse::Ptr();
+     518             : }
+     519             : 
+     520             : //}
+     521             : 
+     522             : /* //{ gotoTrajectoryStart() */
+     523             : 
+     524           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     525           0 :   return std_srvs::TriggerResponse::Ptr();
+     526             : }
+     527             : 
+     528             : //}
+     529             : 
+     530             : /* //{ setConstraints() */
+     531             : 
+     532         380 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     533             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     534             : 
+     535             :   {
+     536         380 :     std::scoped_lock lock(mutex_constraints_);
+     537             : 
+     538         380 :     constraints_ = cmd->constraints;
+     539             :   }
+     540             : 
+     541         760 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     542             : 
+     543         380 :   res.success = true;
+     544         380 :   res.message = "constraints updated";
+     545             : 
+     546         760 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     547             : }
+     548             : 
+     549             : //}
+     550             : 
+     551             : /* //{ setReference() */
+     552             : 
+     553           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr SpeedTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     554             : 
+     555           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     556             : }
+     557             : 
+     558             : //}
+     559             : 
+     560             : /* //{ setVelocityReference() */
+     561             : 
+     562           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr SpeedTracker::setVelocityReference([
+     563             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     564           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* //{ setTrajectoryReference() */
+     570             : 
+     571           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     572             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     573           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     574             : }
+     575             : 
+     576             : //}
+     577             : 
+     578             : // | --------------------- custom methods --------------------- |
+     579             : 
+     580             : /* callbackCommand() //{ */
+     581             : 
+     582           0 : void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg) {
+     583             : 
+     584           0 :   if (!is_initialized_)
+     585           0 :     return;
+     586             : 
+     587           0 :   if (!is_active_)
+     588           0 :     return;
+     589             : 
+     590           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
+     591           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     592             : 
+     593           0 :   mrs_msgs::SpeedTrackerCommandConstPtr external_command = msg;
+     594             : 
+     595             :   double dt;
+     596             : 
+     597           0 :   if (first_iteration_) {
+     598             : 
+     599           0 :     last_command_time_ = ros::Time::now();
+     600           0 :     first_iteration_   = false;
+     601             : 
+     602             :     {
+     603           0 :       std::scoped_lock lock(mutex_command_);
+     604             : 
+     605           0 :       command_ = *external_command;
+     606             :     }
+     607             : 
+     608           0 :     return;
+     609             : 
+     610             :   } else {
+     611           0 :     dt                 = (ros::Time::now() - last_command_time_).toSec();
+     612           0 :     last_command_time_ = ros::Time::now();
+     613             : 
+     614           0 :     if (dt <= 1e-4) {
+     615           0 :       ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: the command dt is %.5f, returning", dt);
+     616           0 :       return;
+     617             :     }
+     618             :   }
+     619             : 
+     620           0 :   getting_cmd_ = true;
+     621             : 
+     622           0 :   mrs_msgs::SpeedTrackerCommand transformed_command = *external_command;
+     623             : 
+     624           0 :   auto old_command = mrs_lib::get_mutexed(mutex_command_, command_);
+     625           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     626           0 :   auto uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     627             : 
+     628             :   double uav_heading;
+     629             : 
+     630             :   try {
+     631           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     632             :   }
+     633           0 :   catch (...) {
+     634           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     635           0 :     return;
+     636             :   }
+     637             : 
+     638             :   // transform the command
+     639             : 
+     640             :   // transform velocity
+     641             : 
+     642           0 :   if (transformed_command.use_velocity) {
+     643             : 
+     644           0 :     geometry_msgs::Vector3Stamped vector3;
+     645           0 :     vector3.header = transformed_command.header;
+     646             : 
+     647           0 :     vector3.vector.x = transformed_command.velocity.x;
+     648           0 :     vector3.vector.y = transformed_command.velocity.y;
+     649           0 :     vector3.vector.z = transformed_command.velocity.z;
+     650             : 
+     651           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     652             : 
+     653           0 :     if (ret) {
+     654           0 :       transformed_command.velocity.x = ret.value().vector.x;
+     655           0 :       transformed_command.velocity.y = ret.value().vector.y;
+     656           0 :       transformed_command.velocity.z = ret.value().vector.z;
+     657             :     } else {
+     658           0 :       return;
+     659             :     }
+     660             : 
+     661             :     /* horizontal speed limit //{ */
+     662             : 
+     663             :     {
+     664           0 :       double des_horizontal_speed = sqrt(pow(transformed_command.velocity.x, 2) + pow(transformed_command.velocity.y, 2));
+     665             : 
+     666           0 :       if (des_horizontal_speed > constraints.horizontal_speed) {
+     667             : 
+     668           0 :         double des_speed_heading = atan2(transformed_command.velocity.y, transformed_command.velocity.x);
+     669             : 
+     670           0 :         transformed_command.velocity.x = cos(des_speed_heading) * constraints.horizontal_speed;
+     671           0 :         transformed_command.velocity.y = sin(des_speed_heading) * constraints.horizontal_speed;
+     672             :       }
+     673             :     }
+     674             : 
+     675             :     //}
+     676             : 
+     677             :     /* horizontal speed change rate limit //{ */
+     678             : 
+     679             :     {
+     680             :       Eigen::Vector2d hor_speed_derivative =
+     681           0 :           Eigen::Vector2d(transformed_command.velocity.x - old_command.velocity.x, transformed_command.velocity.y - old_command.velocity.y) / dt;
+     682             : 
+     683             :       // exceeding the maximum acceleration
+     684           0 :       if (hor_speed_derivative.norm() > constraints.horizontal_acceleration) {
+     685             : 
+     686           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting speed change rate");
+     687           0 :         double direction = atan2(hor_speed_derivative[1], hor_speed_derivative[0]);
+     688             : 
+     689           0 :         transformed_command.velocity.x = old_command.velocity.x + cos(direction) * constraints.horizontal_acceleration * dt;
+     690           0 :         transformed_command.velocity.y = old_command.velocity.y + sin(direction) * constraints.horizontal_acceleration * dt;
+     691             :       }
+     692             :     }
+     693             : 
+     694             :     //}
+     695             : 
+     696             :     /* vertical speed limit //{ */
+     697             : 
+     698             :     {
+     699             :       // if ascending
+     700           0 :       if (transformed_command.velocity.z > constraints.vertical_ascending_speed) {
+     701             : 
+     702           0 :         transformed_command.velocity.z = constraints.vertical_ascending_speed;
+     703             :       }
+     704             : 
+     705             :       // if descending
+     706           0 :       if (transformed_command.velocity.z < -constraints.vertical_descending_speed) {
+     707             : 
+     708           0 :         transformed_command.velocity.z = -constraints.vertical_descending_speed;
+     709             :       }
+     710             :     }
+     711             : 
+     712             :     //}
+     713             : 
+     714             :     /* vertical speed change rate //{ */
+     715             : 
+     716             :     {
+     717             : 
+     718           0 :       double vert_speed_derivative = (transformed_command.velocity.z - old_command.velocity.z) / dt;
+     719             : 
+     720           0 :       if (vert_speed_derivative > constraints.vertical_ascending_acceleration) {
+     721             : 
+     722           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending speed change rate");
+     723           0 :         transformed_command.velocity.z = old_command.velocity.z + constraints.vertical_ascending_acceleration * dt;
+     724             : 
+     725           0 :       } else if (vert_speed_derivative < -constraints.vertical_descending_acceleration) {
+     726             : 
+     727           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending speed change rate");
+     728           0 :         transformed_command.velocity.z = old_command.velocity.z - constraints.vertical_descending_acceleration * dt;
+     729             :       }
+     730             :     }
+     731             : 
+     732             :     //}
+     733             :   }
+     734             : 
+     735             :   /* transform and constrain heading //{ */
+     736             : 
+     737           0 :   if (transformed_command.use_heading) {
+     738             : 
+     739           0 :     mrs_msgs::ReferenceStamped temp_ref;
+     740           0 :     temp_ref.header = transformed_command.header;
+     741             : 
+     742           0 :     temp_ref.reference.heading = transformed_command.heading;
+     743             : 
+     744           0 :     auto ret = common_handlers_->transformer->transformSingle(temp_ref, "");
+     745             : 
+     746           0 :     if (ret) {
+     747             : 
+     748             :       // calculate the produced heading rate
+     749           0 :       double des_hdg_rate = sradians::diff(ret.value().reference.heading, old_command.heading) / dt;
+     750             : 
+     751             :       // saturate the change in the desired heading
+     752           0 :       if (des_hdg_rate > constraints.heading_speed) {
+     753             : 
+     754           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     755           0 :         transformed_command.heading = old_command.heading + constraints.heading_speed * dt;
+     756             : 
+     757           0 :       } else if (des_hdg_rate < -constraints.heading_speed) {
+     758             : 
+     759           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     760           0 :         transformed_command.heading = old_command.heading - constraints.heading_speed * dt;
+     761             : 
+     762             :       } else {
+     763             : 
+     764           0 :         transformed_command.heading = ret.value().reference.heading;
+     765             :       }
+     766             : 
+     767             :     } else {
+     768           0 :       return;
+     769             :     }
+     770             :   } else {
+     771           0 :     transformed_command.use_heading = false;
+     772           0 :     transformed_command.heading     = uav_heading;
+     773             :   }
+     774             : 
+     775             :   //}
+     776             : 
+     777           0 :   if (transformed_command.use_heading_rate) {
+     778             : 
+     779           0 :     if (transformed_command.heading_rate > constraints.heading_speed) {
+     780           0 :       transformed_command.heading_rate = constraints.heading_speed;
+     781           0 :     } else if (transformed_command.heading_rate < -constraints.heading_speed) {
+     782           0 :       transformed_command.heading_rate = -constraints.heading_speed;
+     783             :     }
+     784             :   }
+     785             : 
+     786           0 :   if (transformed_command.use_acceleration) {
+     787             : 
+     788           0 :     geometry_msgs::Vector3Stamped vector3;
+     789           0 :     vector3.header = transformed_command.header;
+     790             : 
+     791           0 :     vector3.vector.x = transformed_command.acceleration.x;
+     792           0 :     vector3.vector.y = transformed_command.acceleration.y;
+     793           0 :     vector3.vector.z = transformed_command.acceleration.z;
+     794             : 
+     795           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     796             : 
+     797           0 :     if (ret) {
+     798           0 :       transformed_command.acceleration.x = ret.value().vector.x;
+     799           0 :       transformed_command.acceleration.y = ret.value().vector.y;
+     800           0 :       transformed_command.acceleration.z = ret.value().vector.z;
+     801             :     } else {
+     802           0 :       return;
+     803             :     }
+     804             : 
+     805             :     /* horizontal acceleration limit //{ */
+     806             : 
+     807             :     {
+     808           0 :       double des_horizontal_acceleration = sqrt(pow(transformed_command.acceleration.x, 2) + pow(transformed_command.acceleration.y, 2));
+     809             : 
+     810           0 :       if (des_horizontal_acceleration > constraints.horizontal_acceleration) {
+     811             : 
+     812           0 :         double des_acc_heading = atan2(transformed_command.acceleration.y, transformed_command.acceleration.x);
+     813             : 
+     814           0 :         transformed_command.acceleration.x = cos(des_acc_heading) * constraints.horizontal_acceleration;
+     815           0 :         transformed_command.acceleration.y = sin(des_acc_heading) * constraints.horizontal_acceleration;
+     816             :       }
+     817             :     }
+     818             : 
+     819             :     //}
+     820             : 
+     821             :     /* horizontal acceleration change rate limit //{ */
+     822             : 
+     823             :     {
+     824             :       Eigen::Vector2d hor_acc_derivative =
+     825           0 :           Eigen::Vector2d(transformed_command.acceleration.x - old_command.acceleration.x, transformed_command.acceleration.y - old_command.acceleration.y) /
+     826           0 :           (dt);
+     827             : 
+     828             :       // exceeding the maximum acceleration
+     829           0 :       if (hor_acc_derivative.norm() > constraints.horizontal_jerk) {
+     830             : 
+     831           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting acceleration change rate");
+     832           0 :         double direction = atan2(hor_acc_derivative[1], hor_acc_derivative[0]);
+     833             : 
+     834           0 :         transformed_command.acceleration.x = old_command.acceleration.x + cos(direction) * constraints.horizontal_jerk * dt;
+     835           0 :         transformed_command.acceleration.y = old_command.acceleration.y + sin(direction) * constraints.horizontal_jerk * dt;
+     836             :       }
+     837             :     }
+     838             : 
+     839             :     //}
+     840             : 
+     841             :     /* vertical acceleration limit //{ */
+     842             : 
+     843             :     {
+     844             :       // if ascending
+     845           0 :       if (transformed_command.acceleration.z > constraints.vertical_ascending_acceleration) {
+     846             : 
+     847           0 :         transformed_command.acceleration.z = constraints.vertical_ascending_acceleration;
+     848             :       }
+     849             : 
+     850             :       // if descending
+     851           0 :       if (transformed_command.acceleration.z < -constraints.vertical_descending_acceleration) {
+     852             : 
+     853           0 :         transformed_command.acceleration.z = -constraints.vertical_descending_acceleration;
+     854             :       }
+     855             :     }
+     856             : 
+     857             :     //}
+     858             : 
+     859             :     /* vertical acceleration change rate //{ */
+     860             : 
+     861             :     {
+     862             : 
+     863           0 :       double vert_acc_derivative = (transformed_command.acceleration.z - old_command.acceleration.z) / dt;
+     864             : 
+     865           0 :       if (vert_acc_derivative > constraints.vertical_ascending_jerk) {
+     866             : 
+     867           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending acceleration change rate");
+     868           0 :         transformed_command.acceleration.z = old_command.acceleration.z + constraints.vertical_ascending_jerk * dt;
+     869             : 
+     870           0 :       } else if (vert_acc_derivative < -constraints.vertical_descending_jerk) {
+     871             : 
+     872           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending acceleration change rate");
+     873           0 :         transformed_command.acceleration.z = old_command.acceleration.z - constraints.vertical_descending_jerk * dt;
+     874             :       }
+     875             :     }
+     876             : 
+     877             :     //}
+     878             :   }
+     879             : 
+     880             :   // transform force
+     881             : 
+     882           0 :   if (transformed_command.use_force) {
+     883             : 
+     884           0 :     geometry_msgs::Vector3Stamped vector3;
+     885           0 :     vector3.header = transformed_command.header;
+     886             : 
+     887           0 :     vector3.vector.x = transformed_command.force.x;
+     888           0 :     vector3.vector.y = transformed_command.force.y;
+     889           0 :     vector3.vector.z = transformed_command.force.z;
+     890             : 
+     891           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     892             : 
+     893           0 :     if (ret) {
+     894           0 :       transformed_command.force.x = vector3.vector.x;
+     895           0 :       transformed_command.force.y = vector3.vector.y;
+     896           0 :       transformed_command.force.z = vector3.vector.z;
+     897             :     } else {
+     898           0 :       return;
+     899             :     }
+     900             :   }
+     901             : 
+     902             :   // check the feasibility of the z
+     903             :   {
+     904           0 :     double z_derivative = (transformed_command.z - old_command.z) / dt;
+     905             : 
+     906           0 :     if (z_derivative > constraints.vertical_ascending_speed) {
+     907             : 
+     908           0 :       transformed_command.z = old_command.z + constraints.vertical_ascending_speed * dt;
+     909             : 
+     910           0 :     } else if (z_derivative < -constraints.vertical_ascending_speed) {
+     911             : 
+     912           0 :       transformed_command.z = old_command.z - constraints.vertical_descending_speed * dt;
+     913             :     }
+     914             : 
+     915             :     // saturate the desired z using the safety area
+     916           0 :     if (common_handlers_->safety_area.use_safety_area) {
+     917             : 
+     918           0 :       if (transformed_command.z > common_handlers_->safety_area.getMaxZ("")) {
+     919             : 
+     920           0 :         transformed_command.z = common_handlers_->safety_area.getMaxZ("");
+     921             : 
+     922           0 :       } else if (transformed_command.z < common_handlers_->safety_area.getMinZ("")) {
+     923             : 
+     924           0 :         transformed_command.z = common_handlers_->safety_area.getMinZ("");
+     925             :       }
+     926             :     }
+     927             :   }
+     928             : 
+     929             :   // if not active, nullify the desired speeds and accelerations
+     930             :   // this will produce a rumpum (using the constraints) after the activation
+     931           0 :   if (!is_active_) {
+     932             : 
+     933           0 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     934             : 
+     935           0 :     transformed_command.velocity.x = 0;
+     936           0 :     transformed_command.velocity.y = 0;
+     937           0 :     transformed_command.velocity.z = 0;
+     938             : 
+     939           0 :     transformed_command.acceleration.x = 0;
+     940           0 :     transformed_command.acceleration.y = 0;
+     941           0 :     transformed_command.acceleration.z = 0;
+     942             : 
+     943             :     try {
+     944           0 :       transformed_command.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     945             :     }
+     946           0 :     catch (...) {
+     947           0 :       return;
+     948             :     }
+     949             : 
+     950           0 :     transformed_command.z = uav_state_.pose.position.z;
+     951             :   }
+     952             : 
+     953             :   {
+     954           0 :     std::scoped_lock lock(mutex_command_);
+     955             : 
+     956           0 :     command_ = transformed_command;
+     957             :   }
+     958             : 
+     959           0 :   if (!is_active_) {
+     960           0 :     ROS_INFO_ONCE("[SpeedTracker]: getting command");
+     961             :   } else {
+     962           0 :     ROS_INFO_THROTTLE(5.0, "[SpeedTracker]: getting command");
+     963             :   }
+     964             : 
+     965             :   // --------------------------------------------------------------
+     966             :   // |                     publish rviz markers                   |
+     967             :   // --------------------------------------------------------------
+     968             : 
+     969           0 :   visualization_msgs::MarkerArray msg_out;
+     970             : 
+     971           0 :   double id = 0;
+     972             : 
+     973           0 :   geometry_msgs::Point point;
+     974             : 
+     975             :   /* desired speed //{ */
+     976             : 
+     977           0 :   if (transformed_command.use_velocity) {
+     978             : 
+     979           0 :     std::scoped_lock lock(mutex_uav_state_);
+     980             : 
+     981           0 :     visualization_msgs::Marker marker;
+     982             : 
+     983           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     984           0 :     marker.header.stamp    = ros::Time::now();
+     985           0 :     marker.ns              = "speed_tracker";
+     986           0 :     marker.id              = id++;
+     987           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     988           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     989             : 
+     990             :     /* position //{ */
+     991             : 
+     992           0 :     marker.pose.position.x = 0.0;
+     993           0 :     marker.pose.position.y = 0.0;
+     994           0 :     marker.pose.position.z = 0.0;
+     995             : 
+     996             :     //}
+     997             : 
+     998             :     /* orientation //{ */
+     999             : 
+    1000           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1001             : 
+    1002             :     //}
+    1003             : 
+    1004             :     /* origin //{ */
+    1005           0 :     point.x = uav_state_.pose.position.x;
+    1006           0 :     point.y = uav_state_.pose.position.y;
+    1007           0 :     point.z = uav_state_.pose.position.z;
+    1008             : 
+    1009           0 :     marker.points.push_back(point);
+    1010             : 
+    1011             :     //}
+    1012             : 
+    1013             :     /* tip //{ */
+    1014             : 
+    1015           0 :     point.x = uav_state_.pose.position.x + transformed_command.velocity.x;
+    1016           0 :     point.y = uav_state_.pose.position.y + transformed_command.velocity.y;
+    1017           0 :     point.z = uav_state_.pose.position.z + transformed_command.velocity.z;
+    1018             : 
+    1019           0 :     marker.points.push_back(point);
+    1020             : 
+    1021             :     //}
+    1022             : 
+    1023           0 :     marker.scale.x = 0.05;
+    1024           0 :     marker.scale.y = 0.05;
+    1025           0 :     marker.scale.z = 0.05;
+    1026             : 
+    1027           0 :     marker.color.a = 0.5;
+    1028           0 :     marker.color.r = 0.0;
+    1029           0 :     marker.color.g = 1.0;
+    1030           0 :     marker.color.b = 0.0;
+    1031             : 
+    1032           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1033             : 
+    1034           0 :     msg_out.markers.push_back(marker);
+    1035             :   }
+    1036             : 
+    1037             :   //}
+    1038             : 
+    1039             :   /* desired acceleration //{ */
+    1040           0 :   if (transformed_command.use_acceleration) {
+    1041             : 
+    1042           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1043             : 
+    1044           0 :     visualization_msgs::Marker marker;
+    1045             : 
+    1046           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1047           0 :     marker.header.stamp    = ros::Time::now();
+    1048           0 :     marker.ns              = "speed_tracker";
+    1049           0 :     marker.id              = id++;
+    1050           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1051           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1052             : 
+    1053             :     /* position //{ */
+    1054             : 
+    1055           0 :     marker.pose.position.x = 0.0;
+    1056           0 :     marker.pose.position.y = 0.0;
+    1057           0 :     marker.pose.position.z = 0.0;
+    1058             : 
+    1059             :     //}
+    1060             : 
+    1061             :     /* orientation //{ */
+    1062             : 
+    1063           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1064             : 
+    1065             :     //}
+    1066             : 
+    1067             :     /* origin //{ */
+    1068           0 :     point.x = uav_state_.pose.position.x;
+    1069           0 :     point.y = uav_state_.pose.position.y;
+    1070           0 :     point.z = uav_state_.pose.position.z;
+    1071             : 
+    1072           0 :     marker.points.push_back(point);
+    1073             : 
+    1074             :     //}
+    1075             : 
+    1076             :     /* tip //{ */
+    1077             : 
+    1078           0 :     point.x = uav_state_.pose.position.x + transformed_command.acceleration.x;
+    1079           0 :     point.y = uav_state_.pose.position.y + transformed_command.acceleration.y;
+    1080           0 :     point.z = uav_state_.pose.position.z + transformed_command.acceleration.z;
+    1081             : 
+    1082           0 :     marker.points.push_back(point);
+    1083             : 
+    1084             :     //}
+    1085             : 
+    1086           0 :     marker.scale.x = 0.05;
+    1087           0 :     marker.scale.y = 0.05;
+    1088           0 :     marker.scale.z = 0.05;
+    1089             : 
+    1090           0 :     marker.color.a = 0.5;
+    1091           0 :     marker.color.r = 1.0;
+    1092           0 :     marker.color.g = 0.0;
+    1093           0 :     marker.color.b = 0.0;
+    1094             : 
+    1095           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1096             : 
+    1097           0 :     msg_out.markers.push_back(marker);
+    1098             :   }
+    1099             : 
+    1100             :   //}
+    1101             : 
+    1102             :   /* desired force //{ */
+    1103           0 :   if (transformed_command.use_force) {
+    1104             : 
+    1105           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1106             : 
+    1107           0 :     visualization_msgs::Marker marker;
+    1108             : 
+    1109           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1110           0 :     marker.header.stamp    = ros::Time::now();
+    1111           0 :     marker.ns              = "speed_tracker";
+    1112           0 :     marker.id              = id++;
+    1113           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1114           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1115             : 
+    1116             :     /* position //{ */
+    1117             : 
+    1118           0 :     marker.pose.position.x = 0.0;
+    1119           0 :     marker.pose.position.y = 0.0;
+    1120           0 :     marker.pose.position.z = 0.0;
+    1121             : 
+    1122             :     //}
+    1123             : 
+    1124             :     /* orientation //{ */
+    1125             : 
+    1126           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1127             : 
+    1128             :     //}
+    1129             : 
+    1130             :     /* origin //{ */
+    1131           0 :     point.x = uav_state_.pose.position.x;
+    1132           0 :     point.y = uav_state_.pose.position.y;
+    1133           0 :     point.z = uav_state_.pose.position.z;
+    1134             : 
+    1135           0 :     marker.points.push_back(point);
+    1136             : 
+    1137             :     //}
+    1138             : 
+    1139             :     /* tip //{ */
+    1140             : 
+    1141           0 :     point.x = uav_state_.pose.position.x + transformed_command.force.x;
+    1142           0 :     point.y = uav_state_.pose.position.y + transformed_command.force.y;
+    1143           0 :     point.z = uav_state_.pose.position.z + transformed_command.force.z;
+    1144             : 
+    1145           0 :     marker.points.push_back(point);
+    1146             : 
+    1147             :     //}
+    1148             : 
+    1149           0 :     marker.scale.x = 0.05;
+    1150           0 :     marker.scale.y = 0.05;
+    1151           0 :     marker.scale.z = 0.05;
+    1152             : 
+    1153           0 :     marker.color.a = 0.5;
+    1154           0 :     marker.color.r = 0.0;
+    1155           0 :     marker.color.g = 0.0;
+    1156           0 :     marker.color.b = 1.0;
+    1157             : 
+    1158           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1159             : 
+    1160           0 :     msg_out.markers.push_back(marker);
+    1161             :   }
+    1162             : 
+    1163             :   //}
+    1164             : 
+    1165           0 :   ph_rviz_marker_.publish(msg_out);
+    1166             : }
+    1167             : 
+    1168             : //}
+    1169             : 
+    1170             : }  // namespace speed_tracker
+    1171             : 
+    1172             : }  // namespace mrs_uav_trackers
+    1173             : 
+    1174             : #include <pluginlib/class_list_macros.h>
+    1175         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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<unnamed>68.0 %760 / 1118100.0 %22 / 22
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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/srcHitTotalCoverage
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Generated by: LCOV version 1.14
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Generated by: LCOV version 1.14
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+
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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-sort-c.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func-sort-c.html new file mode 100644 index 0000000000..fbd276470f --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func-sort-c.html @@ -0,0 +1,168 @@ + + + + + + + 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:760111868.0 %
Date:2024-10-08 22:31:24Functions:2222100.0 %
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::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
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&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
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&)17
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1014
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&)4926
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9667
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172426
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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 - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:760111868.0 %
Date:2024-10-08 22:31:24Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
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&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
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&)4926
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172426
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1014
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
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&)17
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9667
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
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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..78b508d93b --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html @@ -0,0 +1,2514 @@ + + + + + + + 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:760111868.0 %
Date:2024-10-08 22:31:24Functions:2222100.0 %
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             : #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             : #include <mrs_msgs/UavState.h>
+      23             : 
+      24             : #include <eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h>
+      25             : #include <eth_trajectory_generation/trajectory.h>
+      26             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      27             : 
+      28             : #include <mrs_lib/param_loader.h>
+      29             : #include <mrs_lib/geometry/cyclic.h>
+      30             : #include <mrs_lib/geometry/misc.h>
+      31             : #include <mrs_lib/mutex.h>
+      32             : #include <mrs_lib/batch_visualizer.h>
+      33             : #include <mrs_lib/transformer.h>
+      34             : #include <mrs_lib/utils.h>
+      35             : #include <mrs_lib/scope_timer.h>
+      36             : #include <mrs_lib/attitude_converter.h>
+      37             : #include <mrs_lib/publisher_handler.h>
+      38             : #include <mrs_lib/subscribe_handler.h>
+      39             : 
+      40             : #include <dynamic_reconfigure/server.h>
+      41             : #include <mrs_uav_trajectory_generation/drsConfig.h>
+      42             : 
+      43             : #include <future>
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* using //{ */
+      48             : 
+      49             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      50             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      51             : using mat3_t = Eigen::Matrix3Xd;
+      52             : 
+      53             : using radians  = mrs_lib::geometry::radians;
+      54             : using sradians = mrs_lib::geometry::sradians;
+      55             : 
+      56             : //}
+      57             : 
+      58             : /* defines //{ */
+      59             : 
+      60             : #define FUTURIZATION_EXEC_TIME_FACTOR 0.5        // [0, 1]
+      61             : #define FUTURIZATION_FIRST_WAYPOINT_FACTOR 0.50  // [0, 1]
+      62             : #define OVERTIME_SAFETY_FACTOR 0.95              // [0, 1]
+      63             : #define OVERTIME_SAFETY_OFFSET 0.01              // [s]
+      64             : #define NLOPT_EXEC_TIME_FACTOR 0.95              // [0, 1]
+      65             : 
+      66             : typedef struct
+      67             : {
+      68             :   Eigen::Vector4d coords;
+      69             :   bool            stop_at;
+      70             : } Waypoint_t;
+      71             : 
+      72             : //}
+      73             : 
+      74             : namespace mrs_uav_trajectory_generation
+      75             : {
+      76             : 
+      77             : /* class MrsTrajectoryGeneration //{ */
+      78             : class MrsTrajectoryGeneration : public nodelet::Nodelet {
+      79             : 
+      80             : public:
+      81             :   virtual void onInit();
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             : 
+      86             :   bool is_initialized_ = false;
+      87             : 
+      88             :   // | ----------------------- parameters ----------------------- |
+      89             : 
+      90             :   double _sampling_dt_;
+      91             : 
+      92             :   double _max_trajectory_len_factor_;
+      93             :   double _min_trajectory_len_factor_;
+      94             : 
+      95             :   int _n_attempts_;
+      96             : 
+      97             :   double _min_waypoint_distance_;
+      98             : 
+      99             :   bool   _fallback_sampling_enabled_;
+     100             :   double _fallback_sampling_speed_factor_;
+     101             :   double _fallback_sampling_accel_factor_;
+     102             :   double _fallback_sampling_stopping_time_;
+     103             :   bool   _fallback_sampling_first_waypoint_additional_stop_;
+     104             : 
+     105             :   double _takeoff_height_;
+     106             : 
+     107             :   std::string _uav_name_;
+     108             : 
+     109             :   bool   _trajectory_max_segment_deviation_enabled_;
+     110             :   double trajectory_max_segment_deviation_;
+     111             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     112             : 
+     113             :   bool   _path_straightener_enabled_;
+     114             :   double _path_straightener_max_deviation_;
+     115             :   double _path_straightener_max_hdg_deviation_;
+     116             : 
+     117             :   bool _override_heading_atan2_;
+     118             : 
+     119             :   // | -------- variable parameters (come with the path) -------- |
+     120             : 
+     121             :   std::string frame_id_;
+     122             :   bool        fly_now_                              = false;
+     123             :   bool        use_heading_                          = false;
+     124             :   bool        stop_at_waypoints_                    = false;
+     125             :   bool        override_constraints_                 = false;
+     126             :   bool        loop_                                 = false;
+     127             :   double      override_max_velocity_horizontal_     = 0.0;
+     128             :   double      override_max_velocity_vertical_       = 0.0;
+     129             :   double      override_max_acceleration_horizontal_ = 0.0;
+     130             :   double      override_max_acceleration_vertical_   = 0.0;
+     131             :   double      override_max_jerk_horizontal_         = 0.0;
+     132             :   double      override_max_jerk_vertical_           = 0.0;
+     133             : 
+     134             :   // | -------------- variable parameters (deduced) ------------- |
+     135             : 
+     136             :   double     max_execution_time_ = 0;
+     137             :   std::mutex mutex_max_execution_time_;
+     138             : 
+     139             :   bool max_deviation_first_segment_;
+     140             : 
+     141             :   std::atomic<bool> dont_prepend_initial_condition_ = false;
+     142             : 
+     143             :   // | -------------------- the transformer  -------------------- |
+     144             : 
+     145             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     146             : 
+     147             :   // | ------------------- scope timer logger ------------------- |
+     148             : 
+     149             :   bool                                       scope_timer_enabled_ = false;
+     150             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     151             : 
+     152             :   // service client for input
+     153             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     154             :   ros::ServiceServer service_server_path_;
+     155             : 
+     156             :   // service client for returning result to the user
+     157             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     158             :   ros::ServiceServer service_server_get_path_;
+     159             : 
+     160             :   void                                      callbackPath(const mrs_msgs::Path::ConstPtr msg);
+     161             :   mrs_lib::SubscribeHandler<mrs_msgs::Path> sh_path_;
+     162             : 
+     163             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>      sh_tracker_cmd_;
+     164             :   mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints> sh_constraints_;
+     165             : 
+     166             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     167             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     168             : 
+     169             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     170             : 
+     171             :   // service client for publishing trajectory out
+     172             :   ros::ServiceClient service_client_trajectory_reference_;
+     173             : 
+     174             :   // solve the whole problem
+     175             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     176             :                                                                         bool fallback_sampling, const bool relax_heading);
+     177             : 
+     178             :   std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> prepareInitialCondition(const ros::Time path_time);
+     179             : 
+     180             :   // batch vizualizer
+     181             :   mrs_lib::BatchVisualizer bw_original_;
+     182             :   mrs_lib::BatchVisualizer bw_final_;
+     183             : 
+     184             :   // transforming TrackerCommand
+     185             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     186             : 
+     187             :   // | ------------------ trajectory validation ----------------- |
+     188             : 
+     189             :   /**
+     190             :    * @brief validates samples of a trajectory agains a path of waypoints
+     191             :    *
+     192             :    * @param trajectory
+     193             :    * @param segments
+     194             :    *
+     195             :    * @return <success, traj_fail_idx, path_fail_segment>
+     196             :    */
+     197             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     198             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     199             : 
+     200             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     201             :                                                                            const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     202             :                                                                            const double& sampling_dt, const bool& relax_heading);
+     203             : 
+     204             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints, const double& sampling_dt,
+     205             :                                                                                    const bool& relax_heading);
+     206             : 
+     207             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     208             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     209             : 
+     210             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&                 waypoints,
+     211             :                                                                                 const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     212             :                                                                                 const double& sampling_dt, const bool& relax_heading);
+     213             : 
+     214             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     215             : 
+     216             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     217             :                                                        const std::optional<mrs_msgs::TrackerCommand>& initial_condition, const double& sampling_dt);
+     218             : 
+     219             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     220             : 
+     221             :   bool checkNaN(const Waypoint_t& a);
+     222             : 
+     223             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     224             : 
+     225             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     226             : 
+     227             :   // | --------------- dynamic reconfigure server --------------- |
+     228             : 
+     229             :   boost::recursive_mutex                           mutex_drs_;
+     230             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     231             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     232             :   boost::shared_ptr<Drs_t>                         drs_;
+     233             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     234             :   DrsParams_t                                      params_;
+     235             :   std::mutex                                       mutex_params_;
+     236             : 
+     237             :   // | ------------ Republisher for the desired path ------------ |
+     238             : 
+     239             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     240             : 
+     241             :   // | ------------- measuring the time of execution ------------ |
+     242             : 
+     243             :   ros::Time  start_time_total_;
+     244             :   std::mutex mutex_start_time_total_;
+     245             :   bool       overtime(void);
+     246             :   double     timeLeft(void);
+     247             : };
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* onInit() //{ */
+     252             : 
+     253         108 : void MrsTrajectoryGeneration::onInit() {
+     254             : 
+     255             :   /* obtain node handle */
+     256         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     257             : 
+     258             :   /* waits for the ROS to publish clock */
+     259         108 :   ros::Time::waitForValid();
+     260             : 
+     261             :   // | ----------------------- publishers ----------------------- |
+     262             : 
+     263         108 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     264             : 
+     265             :   // | ----------------------- subscribers ---------------------- |
+     266             : 
+     267         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     268         108 :   shopts.nh                 = nh_;
+     269         108 :   shopts.node_name          = "TrajectoryGeneration";
+     270         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     271         108 :   shopts.threadsafe         = true;
+     272         108 :   shopts.autostart          = true;
+     273         108 :   shopts.queue_size         = 10;
+     274         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     275             : 
+     276         108 :   sh_constraints_          = mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints>(shopts, "constraints_in");
+     277         108 :   sh_tracker_cmd_          = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     278         108 :   sh_uav_state_            = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &MrsTrajectoryGeneration::callbackUavState, this);
+     279         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diag_in");
+     280             : 
+     281         108 :   sh_path_ = mrs_lib::SubscribeHandler<mrs_msgs::Path>(shopts, "path_in", &MrsTrajectoryGeneration::callbackPath, this);
+     282             : 
+     283             :   // | --------------------- service servers -------------------- |
+     284             : 
+     285         108 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     286             : 
+     287         108 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     288             : 
+     289         108 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     290             : 
+     291             :   // | ----------------------- parameters ----------------------- |
+     292             : 
+     293         216 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     294             : 
+     295         216 :   std::string custom_config_path;
+     296         216 :   std::string platform_config_path;
+     297         216 :   std::string uav_manager_config_path;
+     298             : 
+     299         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     300         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     301         108 :   param_loader.loadParam("uav_manager_config", uav_manager_config_path);
+     302             : 
+     303         108 :   if (uav_manager_config_path == "") {
+     304           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: uav_manager_config param is empty");
+     305           0 :     ros::shutdown();
+     306             :   }
+     307             : 
+     308         108 :   if (custom_config_path != "") {
+     309         108 :     param_loader.addYamlFile(custom_config_path);
+     310             :   }
+     311             : 
+     312         108 :   if (platform_config_path != "") {
+     313         108 :     param_loader.addYamlFile(platform_config_path);
+     314             :   }
+     315             : 
+     316         108 :   param_loader.addYamlFile(uav_manager_config_path);
+     317             : 
+     318         108 :   param_loader.addYamlFileFromParam("private_config");
+     319         108 :   param_loader.addYamlFileFromParam("public_config");
+     320             : 
+     321         216 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     322             : 
+     323         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     324             : 
+     325         108 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     326             : 
+     327         108 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     328             : 
+     329         108 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     330         108 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     331             : 
+     332         108 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     333         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     334         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     335         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     336         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     337         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     338             : 
+     339         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     340         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", params_.max_deviation);
+     341         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     342             : 
+     343         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     344         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     345         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     346             : 
+     347         108 :   param_loader.loadParam(yaml_prefix + "override_heading_atan2", _override_heading_atan2_);
+     348             : 
+     349         108 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     350             : 
+     351         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/takeoff_height", _takeoff_height_);
+     352             : 
+     353             :   // | --------------------- tf transformer --------------------- |
+     354             : 
+     355         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     356         108 :   transformer_->setDefaultPrefix(_uav_name_);
+     357         108 :   transformer_->retryLookupNewest(true);
+     358             : 
+     359             :   // | ------------------- scope timer logger ------------------- |
+     360             : 
+     361         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     362         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     363         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     364             : 
+     365             :   // | --------------------- service clients -------------------- |
+     366             : 
+     367         108 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     368         108 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     369         108 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     370         108 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     371         108 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     372         108 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     373         108 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     374         108 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     375             : 
+     376         108 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_execution_time);
+     377             : 
+     378         108 :   max_execution_time_ = params_.max_execution_time;
+     379             : 
+     380         108 :   if (!param_loader.loadedSuccessfully()) {
+     381           0 :     ROS_ERROR("[TrajectoryGeneration]: could not load all parameters!");
+     382           0 :     ros::shutdown();
+     383             :   }
+     384             : 
+     385             :   // | -------------------- batch visualizer -------------------- |
+     386             : 
+     387         108 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     388             : 
+     389         108 :   bw_original_.clearBuffers();
+     390         108 :   bw_original_.clearVisuals();
+     391             : 
+     392         108 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     393             : 
+     394         108 :   bw_final_.clearBuffers();
+     395         108 :   bw_final_.clearVisuals();
+     396             : 
+     397             :   // | --------------- dynamic reconfigure server --------------- |
+     398             : 
+     399         108 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     400         108 :   drs_->updateConfig(params_);
+     401         108 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     402         108 :   drs_->setCallback(f);
+     403             : 
+     404             :   // | --------------------- finish the init -------------------- |
+     405             : 
+     406         108 :   ROS_INFO_ONCE("[TrajectoryGeneration]: initialized");
+     407             : 
+     408         108 :   is_initialized_ = true;
+     409         108 : }
+     410             : 
+     411             : //}
+     412             : 
+     413             : // | ---------------------- main routines --------------------- |
+     414             : 
+     415             : /*
+     416             :  * 1. preprocessPath(): preprocessing the incoming path
+     417             :  *    - throughs away too close waypoints
+     418             :  *    - straightness path by neglecting waypoints close to segments
+     419             :  * 2. optimize(): solves the whole problem including
+     420             :  *    - subdivision for satisfying max deviation
+     421             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     422             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     423             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     424             :  */
+     425             : 
+     426             : /* preprocessPath() //{ */
+     427             : 
+     428          11 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     429             : 
+     430          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     431             : 
+     432          11 :   std::vector<Waypoint_t> waypoints;
+     433             : 
+     434          11 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     435             : 
+     436          66 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     437             : 
+     438          55 :     double x       = waypoints_in.at(i).coords(0);
+     439          55 :     double y       = waypoints_in.at(i).coords(1);
+     440          55 :     double z       = waypoints_in.at(i).coords(2);
+     441          55 :     double heading = waypoints_in.at(i).coords(3);
+     442             : 
+     443          55 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     444             : 
+     445          55 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     446             : 
+     447           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));
+     448           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));
+     449             : 
+     450           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords(3);
+     451           0 :       double last_hdg  = waypoints_in.at(i + 1).coords(3);
+     452             : 
+     453           0 :       size_t next_point = last_added_idx + 1;
+     454             : 
+     455           0 :       bool segment_is_ok = true;
+     456             : 
+     457           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     458             : 
+     459           0 :         vec3_t mid(waypoints_in.at(j).coords(0), waypoints_in.at(j).coords(1), waypoints_in.at(j).coords(2));
+     460           0 :         double mid_hdg = waypoints_in.at(j).coords(3);
+     461             : 
+     462           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     463             : 
+     464           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     465           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     466           0 :           segment_is_ok = false;
+     467           0 :           break;
+     468             :         }
+     469             :       }
+     470             : 
+     471           0 :       if (segment_is_ok) {
+     472           0 :         continue;
+     473             :       }
+     474             :     }
+     475             : 
+     476          55 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     477             : 
+     478          33 :       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));
+     479          33 :       vec3_t last(waypoints_in.at(i).coords(0), waypoints_in.at(i).coords(1), waypoints_in.at(i).coords(2));
+     480             : 
+     481          33 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     482           0 :         ROS_INFO("[TrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     483             :                  int(last_added_idx));
+     484           0 :         continue;
+     485             :       }
+     486             :     }
+     487             : 
+     488          55 :     Waypoint_t wp;
+     489          55 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     490          55 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     491          55 :     waypoints.push_back(wp);
+     492             : 
+     493          55 :     last_added_idx = i;
+     494             :   }
+     495             : 
+     496          22 :   return waypoints;
+     497             : }
+     498             : 
+     499             : //}
+     500             : 
+     501             : /* prepareInitialCondition() //{ */
+     502             : 
+     503          11 : std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> MrsTrajectoryGeneration::prepareInitialCondition(const ros::Time path_time) {
+     504             : 
+     505          11 :   if (dont_prepend_initial_condition_) {
+     506           0 :     return {{}, false, 0};
+     507             :   }
+     508             : 
+     509          22 :   auto tracker_cmd = sh_tracker_cmd_.getMsg();
+     510             : 
+     511             :   // | ------------- prepare the initial conditions ------------- |
+     512             : 
+     513          22 :   mrs_msgs::TrackerCommand initial_condition;
+     514             : 
+     515          11 :   if (!sh_tracker_cmd_.hasMsg() || ((ros::Time::now() - sh_tracker_cmd_.lastMsgTime())).toSec() > 1.0) {
+     516             : 
+     517           4 :     auto uav_state = sh_uav_state_.getMsg();
+     518             : 
+     519           4 :     initial_condition.position = uav_state->pose.position;
+     520             : 
+     521             :     try {
+     522           4 :       initial_condition.heading = mrs_lib::AttitudeConverter(uav_state->pose.orientation).getHeading();
+     523             :     }
+     524           0 :     catch (...) {
+     525           0 :       ROS_WARN_THROTTLE(1.0, "[MrsTrajectoryGeneration]: could not obtain heading from the UAV State");
+     526             :     }
+     527             : 
+     528           4 :     initial_condition.position.z += _takeoff_height_;
+     529             : 
+     530           4 :     initial_condition.header = uav_state->header;
+     531             : 
+     532           8 :     return {initial_condition, false, 0};
+     533             :   }
+     534             : 
+     535           7 :   bool path_from_future = false;
+     536             : 
+     537             :   // positive = in the future
+     538           7 :   double path_time_offset = 0;
+     539             : 
+     540           7 :   if (path_time != ros::Time(0)) {
+     541           0 :     path_time_offset = (path_time - ros::Time::now()).toSec();
+     542             :   }
+     543             : 
+     544           7 :   int path_sample_offset = 0;
+     545             : 
+     546             :   // if the desired path starts in the future, more than one MPC step ahead
+     547           7 :   if (path_time_offset > 0.2) {
+     548             : 
+     549           0 :     ROS_INFO("[TrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     550             : 
+     551             :     // calculate the offset in samples in the predicted trajectory
+     552             :     // 0.01 is subtracted for the first sample, which is smaller
+     553             :     // +1 is added due to the first sample, which was subtarcted
+     554           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     555             : 
+     556           0 :     if (path_sample_offset > (int(tracker_cmd->full_state_prediction.position.size()) - 1)) {
+     557             : 
+     558           0 :       ROS_ERROR("[TrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     559           0 :       initial_condition = *tracker_cmd;
+     560             : 
+     561             :     } else {
+     562             : 
+     563             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     564           0 :       mrs_msgs::TrackerCommand full_state;
+     565             : 
+     566           0 :       full_state.header = tracker_cmd->full_state_prediction.header;
+     567             : 
+     568           0 :       full_state.position     = tracker_cmd->full_state_prediction.position.at(path_sample_offset);
+     569           0 :       full_state.velocity     = tracker_cmd->full_state_prediction.velocity.at(path_sample_offset);
+     570           0 :       full_state.acceleration = tracker_cmd->full_state_prediction.acceleration.at(path_sample_offset);
+     571           0 :       full_state.jerk         = tracker_cmd->full_state_prediction.jerk.at(path_sample_offset);
+     572             : 
+     573           0 :       full_state.heading              = tracker_cmd->full_state_prediction.heading.at(path_sample_offset);
+     574           0 :       full_state.heading_rate         = tracker_cmd->full_state_prediction.heading_rate.at(path_sample_offset);
+     575           0 :       full_state.heading_acceleration = tracker_cmd->full_state_prediction.heading_acceleration.at(path_sample_offset);
+     576           0 :       full_state.heading_jerk         = tracker_cmd->full_state_prediction.heading_jerk.at(path_sample_offset);
+     577             : 
+     578           0 :       ROS_INFO("[TrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     579             : 
+     580           0 :       initial_condition.header = full_state.header;
+     581             : 
+     582           0 :       initial_condition.position     = full_state.position;
+     583           0 :       initial_condition.velocity     = full_state.velocity;
+     584           0 :       initial_condition.acceleration = full_state.acceleration;
+     585           0 :       initial_condition.jerk         = full_state.jerk;
+     586             : 
+     587           0 :       initial_condition.heading              = full_state.heading;
+     588           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     589           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     590           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     591             : 
+     592           0 :       path_from_future = true;
+     593             :     }
+     594             : 
+     595             :   } else {
+     596             : 
+     597           7 :     ROS_INFO("[TrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     598             : 
+     599           7 :     initial_condition = *tracker_cmd;
+     600             :   }
+     601             : 
+     602           7 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     603             : 
+     604           7 :   if (path_time == ros::Time(0)) {
+     605           7 :     if (!control_manager_diag->tracker_status.have_goal) {
+     606           3 :       initial_condition.header.stamp = ros::Time(0);
+     607             :     }
+     608             :   }
+     609             : 
+     610           7 :   return {{initial_condition}, path_from_future, path_sample_offset};
+     611             : }
+     612             : 
+     613             : //}
+     614             : 
+     615             : /* optimize() //{ */
+     616             : 
+     617          11 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>& waypoints_in,
+     618             :                                                                                                const std_msgs::Header&        waypoints_header,
+     619             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     620             : 
+     621          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     622             : 
+     623          11 :   ros::Time optimize_time_start = ros::Time::now();
+     624             : 
+     625             :   // | ---------------- reset the visual markers ---------------- |
+     626             : 
+     627          11 :   bw_original_.clearBuffers();
+     628          11 :   bw_original_.clearVisuals();
+     629          11 :   bw_final_.clearBuffers();
+     630          11 :   bw_final_.clearVisuals();
+     631             : 
+     632          11 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     633          11 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     634             : 
+     635          11 :   bw_original_.setPointsScale(0.4);
+     636          11 :   bw_final_.setPointsScale(0.35);
+     637             : 
+     638             :   // empty path is invalid
+     639          11 :   if (waypoints_in.size() == 0) {
+     640           0 :     std::stringstream ss;
+     641           0 :     ss << "the path is empty (before postprocessing)";
+     642           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     643           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     644             :   }
+     645             : 
+     646          22 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     647             : 
+     648          11 :   double path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     649             : 
+     650          11 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     651           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     652             :   }
+     653             : 
+     654          22 :   auto [initial_condition, path_from_future, path_sample_offset] = prepareInitialCondition(waypoints_header.stamp);
+     655             : 
+     656             :   // prepend the initial condition
+     657          11 :   if (initial_condition) {
+     658             : 
+     659          11 :     Waypoint_t initial_waypoint;
+     660             :     initial_waypoint.coords =
+     661          11 :         Eigen::Vector4d(initial_condition->position.x, initial_condition->position.y, initial_condition->position.z, initial_condition->heading);
+     662          11 :     initial_waypoint.stop_at = false;
+     663          11 :     waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     664             : 
+     665             :   } else {
+     666           0 :     if (!dont_prepend_initial_condition_) {
+     667           0 :       fly_now_ = false;
+     668             :     }
+     669             :   }
+     670             : 
+     671          22 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     672             : 
+     673          11 :   if (waypoints.size() <= 1) {
+     674           0 :     std::stringstream ss;
+     675           0 :     ss << "the path is empty (after postprocessing)";
+     676           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     677           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     678             :   }
+     679             : 
+     680          11 :   bool              safe = false;
+     681             :   int               traj_idx;
+     682          22 :   std::vector<bool> segment_safeness;
+     683          11 :   double            max_deviation = 0;
+     684             : 
+     685          22 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     686             : 
+     687          11 :   double sampling_dt = 0;
+     688             : 
+     689          11 :   if (path_from_future) {
+     690           0 :     ROS_INFO("[TrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     691           0 :     sampling_dt = 0.2;
+     692             :   } else {
+     693          11 :     sampling_dt = _sampling_dt_;
+     694             :   }
+     695             : 
+     696          11 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     697             : 
+     698          22 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     699             : 
+     700          11 :   if (params.enforce_fallback_solver) {
+     701           0 :     ROS_WARN("[TrajectoryGeneration]: fallback sampling enforced");
+     702           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     703          11 :   } else if (fallback_sampling) {
+     704           0 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling");
+     705           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     706          11 :   } else if (running_async_planning_) {
+     707           5 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     708           5 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     709           6 :   } else if (overtime()) {
+     710           1 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, we are running over time");
+     711           1 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     712             :   } else {
+     713             : 
+     714           5 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     715             :   }
+     716             : 
+     717          11 :   if (result) {
+     718          10 :     trajectory = result.value();
+     719             :   } else {
+     720           1 :     std::stringstream ss;
+     721           1 :     ss << "failed to find trajectory";
+     722           1 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     723           1 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     724             :   }
+     725             : 
+     726          17 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     727             : 
+     728          17 :     ROS_DEBUG("[TrajectoryGeneration]: revalidation cycle #%d", k);
+     729             : 
+     730          17 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     731             : 
+     732          17 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     733             : 
+     734          11 :       ROS_DEBUG("[TrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     735             : 
+     736          11 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     737          11 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     738             : 
+     739         126 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     740             : 
+     741         115 :         if (!(*safeness)) {
+     742             : 
+     743          51 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     744          51 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     745          51 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     746             :           }
+     747             :         }
+     748             : 
+     749         115 :         safeness++;
+     750             :       }
+     751             : 
+     752          11 :       if (params.enforce_fallback_solver) {
+     753           0 :         ROS_WARN("[TrajectoryGeneration]: fallback sampling enforced");
+     754           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     755          11 :       } else if (fallback_sampling) {
+     756           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling");
+     757           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     758          11 :       } else if (running_async_planning_) {
+     759           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     760           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     761          11 :       } else if (overtime()) {
+     762           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, we are running over time");
+     763           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     764             :       } else {
+     765          11 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     766             :       }
+     767             : 
+     768          11 :       if (result) {
+     769           7 :         trajectory = result.value();
+     770             :       } else {
+     771           4 :         std::stringstream ss;
+     772           4 :         ss << "failed to find trajectory";
+     773           4 :         ROS_WARN_STREAM("[TrajectoryGeneration]: " << ss.str());
+     774           4 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     775           7 :       }
+     776             : 
+     777             :     } else {
+     778           6 :       ROS_DEBUG("[TrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     779           6 :       safe = true;
+     780           6 :       break;
+     781             :     }
+     782             :   }
+     783             : 
+     784           6 :   ROS_INFO("[TrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     785             :            trajectory.size() * sampling_dt);
+     786             : 
+     787             :   // prepare rviz markers
+     788          36 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     789          30 :     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);
+     790             :   }
+     791             : 
+     792          12 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     793             : 
+     794             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     795           6 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition, sampling_dt);
+     796             : 
+     797             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     798           6 :   if (path_from_future) {
+     799             : 
+     800           0 :     auto current_prediction = sh_tracker_cmd_.getMsg()->full_state_prediction;
+     801             : 
+     802             :     // calculate the starting idx that we will use from the current_prediction
+     803           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     804           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     805             : 
+     806             :     // if there is anything to insert
+     807           0 :     if (path_sample_offset > path_sample_offset_2) {
+     808             : 
+     809           0 :       ROS_INFO("[TrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     810             : 
+     811           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     812             : 
+     813           0 :         ROS_DEBUG("[TrajectoryGeneration]: inserting idx %d", i);
+     814             : 
+     815           0 :         mrs_msgs::ReferenceStamped reference;
+     816             : 
+     817           0 :         reference.header = current_prediction.header;
+     818             : 
+     819           0 :         reference.reference.heading = current_prediction.heading.at(i);
+     820             : 
+     821           0 :         reference.reference.position = current_prediction.position.at(i);
+     822             : 
+     823           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     824             : 
+     825           0 :         if (res) {
+     826           0 :           reference = res.value();
+     827             :         } else {
+     828           0 :           std::stringstream ss;
+     829           0 :           ss << "could not transform reference to the path frame";
+     830           0 :           ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     831           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     832             :         }
+     833             : 
+     834           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     835             :       }
+     836             :     }
+     837             :   }
+     838             : 
+     839           6 :   bw_original_.publish();
+     840           6 :   bw_final_.publish();
+     841             : 
+     842           6 :   std::stringstream ss;
+     843           6 :   ss << "trajectory generated";
+     844             : 
+     845           6 :   ROS_DEBUG("[TrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     846             : 
+     847           6 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     848             : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* findTrajectory() //{ */
+     853             : 
+     854          16 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     855             :                                                                                                   const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     856             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     857             : 
+     858          48 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     859             : 
+     860          32 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     861             : 
+     862          16 :   ROS_DEBUG("[TrajectoryGeneration]: findTrajectory() started");
+     863             : 
+     864          16 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     865             : 
+     866          32 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     867          32 :   auto constraints = sh_constraints_.getMsg();
+     868             : 
+     869          32 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     870             : 
+     871          16 :   if (initial_state && (initial_state->header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag->tracker_status.have_goal) {
+     872           4 :     max_deviation_first_segment_ = false;
+     873             :   } else {
+     874          12 :     max_deviation_first_segment_ = true;
+     875             :   }
+     876             : 
+     877             :   // optimizer
+     878             : 
+     879          16 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     880             : 
+     881          16 :   parameters.f_rel                  = 0.05;
+     882          16 :   parameters.x_rel                  = 0.1;
+     883          16 :   parameters.time_penalty           = params.time_penalty;
+     884          16 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     885          16 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     886          16 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     887          16 :   if (params.time_allocation == 2) {
+     888          16 :     parameters.algorithm = nlopt::LD_LBFGS;
+     889             :   }
+     890          16 :   parameters.initial_stepsize_rel            = 0.1;
+     891          16 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     892          16 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     893          16 :   parameters.max_iterations                  = params.max_iterations;
+     894             : 
+     895             :   // let's tell the solver tha it is more time then it thinks, to not stop prematurely
+     896          16 :   parameters.max_time = 2 * (NLOPT_EXEC_TIME_FACTOR * timeLeft());
+     897             : 
+     898          32 :   eth_trajectory_generation::Vertex::Vector vertices;
+     899          16 :   const int                                 dimension = 4;
+     900             : 
+     901          16 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     902             : 
+     903          16 :   switch (params.derivative_to_optimize) {
+     904          16 :     case 0: {
+     905          16 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     906          16 :       break;
+     907             :     }
+     908           0 :     case 1: {
+     909           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     910           0 :       break;
+     911             :     }
+     912           0 :     case 2: {
+     913           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     914           0 :       break;
+     915             :     }
+     916             :   }
+     917             : 
+     918             :   // | --------------- add constraints to vertices -------------- |
+     919             : 
+     920             :   double last_heading;
+     921             : 
+     922          16 :   if (initial_state) {
+     923          16 :     last_heading = initial_state->heading;
+     924             :   } else {
+     925           0 :     last_heading = waypoints.at(0).coords(3);
+     926             :   }
+     927             : 
+     928         218 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     929         202 :     double x       = waypoints.at(i).coords(0);
+     930         202 :     double y       = waypoints.at(i).coords(1);
+     931         202 :     double z       = waypoints.at(i).coords(2);
+     932         202 :     double heading = sradians::unwrap(waypoints.at(i).coords(3), last_heading);
+     933         202 :     last_heading   = heading;
+     934             : 
+     935         404 :     eth_trajectory_generation::Vertex vertex(dimension);
+     936             : 
+     937         202 :     if (i == 0) {
+     938             : 
+     939          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     940             : 
+     941          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     942             : 
+     943          16 :       if (initial_state) {
+     944             : 
+     945          16 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     946          16 :                              Eigen::Vector4d(initial_state->velocity.x, initial_state->velocity.y, initial_state->velocity.z, initial_state->heading_rate));
+     947             : 
+     948          16 :         vertex.addConstraint(
+     949             :             eth_trajectory_generation::derivative_order::ACCELERATION,
+     950          16 :             Eigen::Vector4d(initial_state->acceleration.x, initial_state->acceleration.y, initial_state->acceleration.z, initial_state->heading_acceleration));
+     951             : 
+     952          16 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     953          32 :                              Eigen::Vector4d(initial_state->jerk.x, initial_state->jerk.y, initial_state->jerk.z, initial_state->heading_jerk));
+     954             :       }
+     955             : 
+     956         186 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     957             : 
+     958          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     959             : 
+     960          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     961             : 
+     962             :     } else {  // mid points
+     963             : 
+     964         170 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     965             : 
+     966         170 :       if (waypoints.at(i).stop_at) {
+     967           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     968           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     969           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     970             :       }
+     971             :     }
+     972             : 
+     973         202 :     vertices.push_back(vertex);
+     974             :   }
+     975             : 
+     976             :   // | ---------------- compute the segment times --------------- |
+     977             : 
+     978             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     979             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     980             : 
+     981             :   // use the small of the ascending/descending values
+     982          16 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+     983          16 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+     984             : 
+     985          16 :   v_max_horizontal = constraints->horizontal_speed;
+     986          16 :   a_max_horizontal = constraints->horizontal_acceleration;
+     987             : 
+     988          16 :   v_max_vertical = vertical_speed_lim;
+     989          16 :   a_max_vertical = vertical_acceleration_lim;
+     990             : 
+     991          16 :   j_max_horizontal = constraints->horizontal_jerk;
+     992          16 :   j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+     993             : 
+     994          16 :   if (override_constraints_) {
+     995             : 
+     996           0 :     bool can_change = true;
+     997             : 
+     998             : 
+     999           0 :     if (initial_state) {
+    1000           0 :       can_change = (hypot(initial_state->velocity.x, initial_state->velocity.y) < override_max_velocity_horizontal_) &&
+    1001           0 :                    (hypot(initial_state->acceleration.x, initial_state->acceleration.y) < override_max_acceleration_horizontal_) &&
+    1002           0 :                    (hypot(initial_state->jerk.x, initial_state->jerk.y) < override_max_jerk_horizontal_) &&
+    1003           0 :                    (fabs(initial_state->velocity.z) < override_max_velocity_vertical_) &&
+    1004           0 :                    (fabs(initial_state->acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state->jerk.z) < override_max_jerk_vertical_);
+    1005             :     }
+    1006             : 
+    1007           0 :     if (can_change) {
+    1008             : 
+    1009           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+    1010           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+    1011           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+    1012             : 
+    1013           0 :       v_max_vertical = override_max_velocity_vertical_;
+    1014           0 :       a_max_vertical = override_max_acceleration_vertical_;
+    1015           0 :       j_max_vertical = override_max_jerk_vertical_;
+    1016             : 
+    1017           0 :       ROS_DEBUG("[TrajectoryGeneration]: overriding constraints by a user");
+    1018             : 
+    1019             :     } else {
+    1020             : 
+    1021           0 :       ROS_WARN("[TrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025             :   double v_max_heading, a_max_heading, j_max_heading;
+    1026             : 
+    1027          16 :   if (relax_heading) {
+    1028           0 :     v_max_heading = std::numeric_limits<float>::max();
+    1029           0 :     a_max_heading = std::numeric_limits<float>::max();
+    1030           0 :     j_max_heading = std::numeric_limits<float>::max();
+    1031             :   } else {
+    1032          16 :     v_max_heading = constraints->heading_speed;
+    1033          16 :     a_max_heading = constraints->heading_acceleration;
+    1034          16 :     j_max_heading = constraints->heading_jerk;
+    1035             :   }
+    1036             : 
+    1037          16 :   ROS_DEBUG("[TrajectoryGeneration]: using constraints:");
+    1038          16 :   ROS_DEBUG("[TrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1039          16 :   ROS_DEBUG("[TrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1040          16 :   ROS_DEBUG("[TrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1041             : 
+    1042          32 :   std::vector<double> segment_times, segment_times_baca;
+    1043          32 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1044          16 :                                        v_max_heading, a_max_heading);
+    1045          32 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1046          16 :                                                 v_max_heading, a_max_heading);
+    1047             : 
+    1048          16 :   double initial_total_time      = 0;
+    1049          16 :   double initial_total_time_baca = 0;
+    1050         202 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1051         186 :     initial_total_time += segment_times.at(i);
+    1052         186 :     initial_total_time_baca += segment_times_baca.at(i);
+    1053             :   }
+    1054             : 
+    1055          16 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+    1056          16 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+    1057             : 
+    1058             :   // | --------- create an optimizer object and solve it -------- |
+    1059             : 
+    1060          16 :   const int                                                     N = 10;
+    1061          32 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+    1062          16 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+    1063             : 
+    1064          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1065          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1066          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1067             : 
+    1068          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1069          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1070          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1071             : 
+    1072          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+    1073          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+    1074          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+    1075             : 
+    1076          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+    1077          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+    1078          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+    1079             : 
+    1080          16 :   opt.optimize();
+    1081             : 
+    1082          16 :   if (overtime()) {
+    1083           4 :     return {};
+    1084             :   }
+    1085             : 
+    1086          24 :   std::string result_str;
+    1087             : 
+    1088          12 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1089           2 :     case nlopt::FAILURE: {
+    1090           2 :       result_str = "generic failure";
+    1091           2 :       break;
+    1092             :     }
+    1093           0 :     case nlopt::INVALID_ARGS: {
+    1094           0 :       result_str = "invalid args";
+    1095           0 :       break;
+    1096             :     }
+    1097           0 :     case nlopt::OUT_OF_MEMORY: {
+    1098           0 :       result_str = "out of memory";
+    1099           0 :       break;
+    1100             :     }
+    1101           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1102           0 :       result_str = "roundoff limited";
+    1103           0 :       break;
+    1104             :     }
+    1105           0 :     case nlopt::FORCED_STOP: {
+    1106           0 :       result_str = "forced stop";
+    1107           0 :       break;
+    1108             :     }
+    1109           0 :     case nlopt::STOPVAL_REACHED: {
+    1110           0 :       result_str = "stopval reached";
+    1111           0 :       break;
+    1112             :     }
+    1113           3 :     case nlopt::FTOL_REACHED: {
+    1114           3 :       result_str = "ftol reached";
+    1115           3 :       break;
+    1116             :     }
+    1117           4 :     case nlopt::XTOL_REACHED: {
+    1118           4 :       result_str = "xtol reached";
+    1119           4 :       break;
+    1120             :     }
+    1121           3 :     case nlopt::MAXEVAL_REACHED: {
+    1122           3 :       result_str = "maxeval reached";
+    1123           3 :       break;
+    1124             :     }
+    1125           0 :     case nlopt::MAXTIME_REACHED: {
+    1126           0 :       result_str = "maxtime reached";
+    1127           0 :       break;
+    1128             :     }
+    1129           0 :     default: {
+    1130           0 :       result_str = "UNKNOWN FAILURE CODE";
+    1131           0 :       break;
+    1132             :     }
+    1133             :   }
+    1134             : 
+    1135          12 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1136          10 :     ROS_DEBUG("[TrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason, result_str.c_str());
+    1137             : 
+    1138           2 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1139           2 :     ROS_DEBUG("[TrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1140             :               result_str.c_str());
+    1141             : 
+    1142             :   } else {
+    1143           0 :     ROS_WARN("[TrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1144             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1145           0 :     return {};
+    1146             :   }
+    1147             : 
+    1148             :   // | ------------- obtain the polynomial segments ------------- |
+    1149             : 
+    1150          24 :   eth_trajectory_generation::Segment::Vector segments;
+    1151          12 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1152             : 
+    1153          12 :   if (overtime()) {
+    1154           0 :     return {};
+    1155             :   }
+    1156             : 
+    1157             :   // | --------------- create the trajectory class -------------- |
+    1158             : 
+    1159          24 :   eth_trajectory_generation::Trajectory trajectory;
+    1160          12 :   opt.getTrajectory(&trajectory);
+    1161             : 
+    1162          24 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1163             : 
+    1164          12 :   ROS_DEBUG("[TrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1165             : 
+    1166          12 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1167             : 
+    1168          12 :   if (overtime()) {
+    1169           1 :     return {};
+    1170             :   }
+    1171             : 
+    1172             :   // validate the temporal sampling of the trajectory
+    1173             : 
+    1174             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1175          11 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1176           0 :     ROS_ERROR("[TrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1177             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1178             : 
+    1179           0 :     std::stringstream ss;
+    1180           0 :     ss << "trajectory sampling failed";
+    1181           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    1182           0 :     return {};
+    1183             : 
+    1184          11 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1185           0 :     ROS_ERROR("[TrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1186             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1187             : 
+    1188           0 :     std::stringstream ss;
+    1189           0 :     ss << "trajectory sampling failed";
+    1190           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    1191           0 :     return {};
+    1192             : 
+    1193             :   } else {
+    1194          11 :     ROS_DEBUG("[TrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1195             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1196             :   }
+    1197             : 
+    1198          11 :   if (success) {
+    1199          11 :     ROS_DEBUG("[TrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1200          11 :     return std::optional(states);
+    1201             : 
+    1202             :   } else {
+    1203           0 :     ROS_ERROR("[TrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1204           0 :     return {};
+    1205             :   }
+    1206             : }
+    1207             : 
+    1208             : //}
+    1209             : 
+    1210             : /* findTrajectoryFallback() //{ */
+    1211             : 
+    1212           6 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints,
+    1213             :                                                                                                           const double&                  sampling_dt,
+    1214             :                                                                                                           const bool&                    relax_heading) {
+    1215             : 
+    1216          18 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1217             : 
+    1218           6 :   ros::Time time_start = ros::Time::now();
+    1219             : 
+    1220           6 :   ROS_WARN("[TrajectoryGeneration]: fallback sampling started");
+    1221             : 
+    1222          12 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1223          12 :   auto constraints = sh_constraints_.getMsg();
+    1224             : 
+    1225          12 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1226           6 :   const int                                 dimension = 4;
+    1227             : 
+    1228             :   // | --------------- add constraints to vertices -------------- |
+    1229             : 
+    1230           6 :   double last_heading = waypoints.at(0).coords(3);
+    1231             : 
+    1232          36 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1233             : 
+    1234          30 :     double x       = waypoints.at(i).coords(0);
+    1235          30 :     double y       = waypoints.at(i).coords(1);
+    1236          30 :     double z       = waypoints.at(i).coords(2);
+    1237          30 :     double heading = sradians::unwrap(waypoints.at(i).coords(3), last_heading);
+    1238          30 :     last_heading   = heading;
+    1239             : 
+    1240          60 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1241             : 
+    1242          30 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1243             : 
+    1244          30 :     vertices.push_back(vertex);
+    1245             :   }
+    1246             : 
+    1247             :   // | ---------------- compute the segment times --------------- |
+    1248             : 
+    1249             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1250             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1251             : 
+    1252             :   // use the small of the ascending/descending values
+    1253           6 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+    1254           6 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+    1255             : 
+    1256           6 :   if (override_constraints_) {
+    1257             : 
+    1258           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1259           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1260           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1261             : 
+    1262           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1263           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1264           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1265             : 
+    1266           0 :     ROS_DEBUG("[TrajectoryGeneration]: overriding constraints by a user");
+    1267             :   } else {
+    1268             : 
+    1269           6 :     v_max_horizontal = constraints->horizontal_speed;
+    1270           6 :     a_max_horizontal = constraints->horizontal_acceleration;
+    1271             : 
+    1272           6 :     v_max_vertical = vertical_speed_lim;
+    1273           6 :     a_max_vertical = vertical_acceleration_lim;
+    1274             : 
+    1275           6 :     j_max_horizontal = constraints->horizontal_jerk;
+    1276           6 :     j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+    1277             :   }
+    1278             : 
+    1279             : 
+    1280             :   double v_max_heading, a_max_heading, j_max_heading;
+    1281             : 
+    1282           6 :   if (relax_heading) {
+    1283           0 :     v_max_heading = std::numeric_limits<float>::max();
+    1284           0 :     a_max_heading = std::numeric_limits<float>::max();
+    1285           0 :     j_max_heading = std::numeric_limits<float>::max();
+    1286             :   } else {
+    1287           6 :     v_max_heading = constraints->heading_speed;
+    1288           6 :     a_max_heading = constraints->heading_acceleration;
+    1289           6 :     j_max_heading = constraints->heading_jerk;
+    1290             :   }
+    1291             : 
+    1292           6 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1293           6 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1294             : 
+    1295           6 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1296           6 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1297             : 
+    1298           6 :   ROS_DEBUG("[TrajectoryGeneration]: using constraints:");
+    1299           6 :   ROS_DEBUG("[TrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1300           6 :   ROS_DEBUG("[TrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1301           6 :   ROS_DEBUG("[TrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1302             : 
+    1303          12 :   std::vector<double> segment_times, segment_times_baca;
+    1304          12 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1305           6 :                                        v_max_heading, a_max_heading);
+    1306          12 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1307           6 :                                                 v_max_heading, a_max_heading);
+    1308             : 
+    1309           6 :   double initial_total_time      = 0;
+    1310           6 :   double initial_total_time_baca = 0;
+    1311          30 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1312          24 :     initial_total_time += segment_times.at(i);
+    1313          24 :     initial_total_time_baca += segment_times_baca.at(i);
+    1314             : 
+    1315          24 :     ROS_DEBUG("[TrajectoryGeneration]: segment time [%d] = %.2f", i, segment_times_baca.at(i));
+    1316             :   }
+    1317             : 
+    1318           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1319           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1320             : 
+    1321          12 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1322             : 
+    1323             :   // interpolate each segment
+    1324          30 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1325             : 
+    1326          48 :     Eigen::VectorXd start, end;
+    1327             : 
+    1328          24 :     const double segment_time = segment_times_baca.at(i);
+    1329             : 
+    1330             :     int    n_samples;
+    1331             :     double interp_step;
+    1332             : 
+    1333          24 :     if (segment_time > 1e-1) {
+    1334             : 
+    1335          24 :       n_samples = ceil(segment_time / sampling_dt);
+    1336             : 
+    1337             :       // important
+    1338          24 :       if (n_samples > 0) {
+    1339          24 :         interp_step = 1.0 / double(n_samples);
+    1340             :       } else {
+    1341           0 :         interp_step = 0.5;
+    1342             :       }
+    1343             : 
+    1344             :     } else {
+    1345           0 :       n_samples   = 0;
+    1346           0 :       interp_step = 0;
+    1347             :     }
+    1348             : 
+    1349          24 :     ROS_DEBUG("[TrajectoryGeneration]: segment n_samples [%lu] = %d", i, n_samples);
+    1350             : 
+    1351             :     // for the last segment, hit the last waypoint completely
+    1352             :     // otherwise, it is hit as the first sample of the following segment
+    1353          24 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1354           6 :       n_samples++;
+    1355             :     }
+    1356             : 
+    1357         987 :     for (int j = 0; j < n_samples; j++) {
+    1358             : 
+    1359         963 :       Waypoint_t point = interpolatePoint(waypoints.at(i), waypoints.at(i + 1), j * interp_step);
+    1360             : 
+    1361         963 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1362         963 :       eth_point.position_W(0) = point.coords(0);
+    1363         963 :       eth_point.position_W(1) = point.coords(1);
+    1364         963 :       eth_point.position_W(2) = point.coords(2);
+    1365         963 :       eth_point.setFromYaw(point.coords(3));
+    1366             : 
+    1367         963 :       states.push_back(eth_point);
+    1368             : 
+    1369         963 :       if (j == 0 && i > 0 && waypoints.at(i).stop_at) {
+    1370             : 
+    1371           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1372             : 
+    1373           0 :         for (int k = 0; k < insert_samples; k++) {
+    1374           0 :           states.push_back(eth_point);
+    1375             :         }
+    1376             :       }
+    1377             :     }
+    1378             :   }
+    1379             : 
+    1380           6 :   bool success = true;
+    1381             : 
+    1382           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1383             : 
+    1384             :   // | --------------- create the trajectory class -------------- |
+    1385             : 
+    1386           6 :   if (success) {
+    1387           6 :     return std::optional(states);
+    1388             :   } else {
+    1389           0 :     ROS_ERROR("[TrajectoryGeneration]: fallback: sampling failed");
+    1390           0 :     return {};
+    1391             :   }
+    1392             : }
+    1393             : 
+    1394             : //}
+    1395             : 
+    1396             : /* validateTrajectorySpatial() //{ */
+    1397             : 
+    1398          17 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1399             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1400             : 
+    1401          51 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1402             : 
+    1403             :   // prepare the output
+    1404             : 
+    1405          17 :   std::vector<bool> segments;
+    1406         156 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1407         139 :     segments.push_back(true);
+    1408             :   }
+    1409             : 
+    1410          17 :   int waypoint_idx = 0;
+    1411             : 
+    1412          17 :   bool   is_safe       = true;
+    1413          17 :   double max_deviation = 0;
+    1414             : 
+    1415        2480 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1416             : 
+    1417             :     // the trajectory sample
+    1418        2463 :     const vec3_t sample = vec3_t(trajectory.at(i).position_W(0), trajectory.at(i).position_W(1), trajectory.at(i).position_W(2));
+    1419             : 
+    1420             :     // next sample
+    1421        2463 :     const vec3_t next_sample = vec3_t(trajectory.at(i + 1).position_W(0), trajectory.at(i + 1).position_W(1), trajectory.at(i + 1).position_W(2));
+    1422             : 
+    1423             :     // segment start
+    1424        2463 :     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));
+    1425             : 
+    1426             :     // segment end
+    1427             :     const vec3_t segment_end =
+    1428        2463 :         vec3_t(waypoints.at(waypoint_idx + 1).coords(0), waypoints.at(waypoint_idx + 1).coords(1), waypoints.at(waypoint_idx + 1).coords(2));
+    1429             : 
+    1430        2463 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1431             : 
+    1432        2463 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1433             : 
+    1434        2463 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1435             : 
+    1436        2257 :       if (distance_from_segment > max_deviation) {
+    1437         320 :         max_deviation = distance_from_segment;
+    1438             :       }
+    1439             : 
+    1440        2257 :       if (distance_from_segment > trajectory_max_segment_deviation_) {
+    1441         796 :         segments.at(waypoint_idx) = false;
+    1442         796 :         is_safe                   = false;
+    1443             :       }
+    1444             :     }
+    1445             : 
+    1446        2463 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1447         122 :       waypoint_idx++;
+    1448             :     }
+    1449             :   }
+    1450             : 
+    1451          51 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1452             : }
+    1453             : 
+    1454             : //}
+    1455             : 
+    1456             : // | --------------------- minor routines --------------------- |
+    1457             : 
+    1458             : /* findTrajectoryAsync() //{ */
+    1459             : 
+    1460          16 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(
+    1461             :     const std::vector<Waypoint_t>& waypoints, const std::optional<mrs_msgs::TrackerCommand>& initial_state, const double& sampling_dt,
+    1462             :     const bool& relax_heading) {
+    1463             : 
+    1464          16 :   ROS_DEBUG("[TrajectoryGeneration]: starting the async planning task");
+    1465             : 
+    1466             :   future_trajectory_result_ =
+    1467          16 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1468             : 
+    1469        9621 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1470             : 
+    1471        9610 :     if (overtime()) {
+    1472           5 :       ROS_WARN("[TrajectoryGeneration]: async task planning timeout, breaking");
+    1473           5 :       return {};
+    1474             :     }
+    1475             :   }
+    1476             : 
+    1477          11 :   ROS_DEBUG("[TrajectoryGeneration]: async planning task finished successfully");
+    1478             : 
+    1479          11 :   return future_trajectory_result_.get();
+    1480             : }
+    1481             : 
+    1482             : //}
+    1483             : 
+    1484             : /* distFromSegment() //{ */
+    1485             : 
+    1486        4926 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1487             : 
+    1488        4926 :   vec3_t segment_vector = seg2 - seg1;
+    1489        4926 :   double segment_len    = segment_vector.norm();
+    1490             : 
+    1491        4926 :   vec3_t segment_vector_norm = segment_vector;
+    1492        4926 :   segment_vector_norm.normalize();
+    1493             : 
+    1494        4926 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1495             : 
+    1496        4926 :   if (point_coordinate < 0) {
+    1497          34 :     return (point - seg1).norm();
+    1498        4892 :   } else if (point_coordinate > segment_len) {
+    1499        2385 :     return (point - seg2).norm();
+    1500             :   } else {
+    1501             : 
+    1502        2507 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1503        2507 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1504             : 
+    1505        2507 :     return (point - projection).norm();
+    1506             :   }
+    1507             : }
+    1508             : 
+    1509             : //}
+    1510             : 
+    1511             : /* getTrajectoryReference() //{ */
+    1512             : 
+    1513           6 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1514             :                                                                               const std::optional<mrs_msgs::TrackerCommand>&    initial_condition,
+    1515             :                                                                               const double&                                     sampling_dt) {
+    1516             : 
+    1517           6 :   mrs_msgs::TrajectoryReference msg;
+    1518             : 
+    1519           6 :   if (initial_condition) {
+    1520           6 :     msg.header.stamp = initial_condition->header.stamp;
+    1521             :   } else {
+    1522           0 :     msg.header.stamp = ros::Time::now();
+    1523             :   }
+    1524             : 
+    1525           6 :   msg.header.frame_id = frame_id_;
+    1526           6 :   msg.fly_now         = fly_now_;
+    1527           6 :   msg.loop            = loop_;
+    1528           6 :   msg.use_heading     = use_heading_;
+    1529           6 :   msg.dt              = sampling_dt;
+    1530             : 
+    1531         969 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1532             : 
+    1533         963 :     mrs_msgs::Reference point;
+    1534             : 
+    1535         963 :     point.position.x = trajectory.at(it).position_W(0);
+    1536         963 :     point.position.y = trajectory.at(it).position_W(1);
+    1537         963 :     point.position.z = trajectory.at(it).position_W(2);
+    1538             : 
+    1539         963 :     if (_override_heading_atan2_ && it < (trajectory.size() - 1)) {
+    1540             : 
+    1541           0 :       const double points_dist = std::hypot(trajectory.at(it + 1).position_W(1) - point.position.y, trajectory.at(it + 1).position_W(0) - point.position.x);
+    1542             : 
+    1543           0 :       if (points_dist < 0.05 && it > 0) {
+    1544             : 
+    1545           0 :         point.heading = msg.points.at(it - 1).heading;
+    1546             : 
+    1547             :       } else {
+    1548           0 :         point.heading = atan2(trajectory.at(it + 1).position_W(1) - point.position.y, trajectory.at(it + 1).position_W(0) - point.position.x);
+    1549             :       }
+    1550             : 
+    1551             :     } else {
+    1552         963 :       point.heading = trajectory.at(it).getYaw();
+    1553             :     }
+    1554             : 
+    1555         963 :     msg.points.push_back(point);
+    1556             :   }
+    1557             : 
+    1558           6 :   return msg;
+    1559             : }
+    1560             : 
+    1561             : //}
+    1562             : 
+    1563             : /* interpolatePoint() //{ */
+    1564             : 
+    1565        1014 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1566             : 
+    1567        1014 :   Waypoint_t      out;
+    1568        1014 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1569             : 
+    1570        1014 :   out.coords(0) = a.coords(0) + coeff * diff(0);
+    1571        1014 :   out.coords(1) = a.coords(1) + coeff * diff(1);
+    1572        1014 :   out.coords(2) = a.coords(2) + coeff * diff(2);
+    1573        1014 :   out.coords(3) = radians::interp(a.coords(3), b.coords(3), coeff);
+    1574             : 
+    1575        1014 :   out.stop_at = false;
+    1576             : 
+    1577        2028 :   return out;
+    1578             : }
+    1579             : 
+    1580             : //}
+    1581             : 
+    1582             : /* checkNaN() //{ */
+    1583             : 
+    1584          24 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1585             : 
+    1586          24 :   if (!std::isfinite(a.coords(0))) {
+    1587           0 :     ROS_ERROR("NaN detected in variable \"a.coords(0)\"!!!");
+    1588           0 :     return false;
+    1589             :   }
+    1590             : 
+    1591          24 :   if (!std::isfinite(a.coords(1))) {
+    1592           0 :     ROS_ERROR("NaN detected in variable \"a.coords(1)\"!!!");
+    1593           0 :     return false;
+    1594             :   }
+    1595             : 
+    1596          24 :   if (!std::isfinite(a.coords(2))) {
+    1597           0 :     ROS_ERROR("NaN detected in variable \"a.coords(2)\"!!!");
+    1598           0 :     return false;
+    1599             :   }
+    1600             : 
+    1601          24 :   if (!std::isfinite(a.coords(3))) {
+    1602           0 :     ROS_ERROR("NaN detected in variable \"a.coords(3)\"!!!");
+    1603           0 :     return false;
+    1604             :   }
+    1605             : 
+    1606          24 :   return true;
+    1607             : }
+    1608             : 
+    1609             : //}
+    1610             : 
+    1611             : /* trajectorySrv() //{ */
+    1612             : 
+    1613           4 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1614             : 
+    1615           8 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1616           4 :   srv.request.trajectory = msg;
+    1617             : 
+    1618           4 :   bool res = service_client_trajectory_reference_.call(srv);
+    1619             : 
+    1620           4 :   if (res) {
+    1621             : 
+    1622           4 :     if (!srv.response.success) {
+    1623           0 :       ROS_WARN("[TrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1624             :     }
+    1625             : 
+    1626           4 :     return srv.response.success;
+    1627             : 
+    1628             :   } else {
+    1629             : 
+    1630           0 :     ROS_ERROR("[TrajectoryGeneration]: service call for trajectory_reference failed!");
+    1631             : 
+    1632           0 :     return false;
+    1633             :   }
+    1634             : }
+    1635             : 
+    1636             : //}
+    1637             : 
+    1638             : /* transformTrackerCmd() //{ */
+    1639             : 
+    1640           6 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1641             : 
+    1642             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1643           6 :   if (target_frame == path_in.header.frame_id) {
+    1644           6 :     return path_in;
+    1645             :   }
+    1646             : 
+    1647             :   // find the transformation
+    1648           0 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1649             : 
+    1650           0 :   if (!tf) {
+    1651           0 :     ROS_ERROR("[TrajectoryGeneration]: could not find transform from '%s' to '%s' in time %f", path_in.header.frame_id.c_str(), target_frame.c_str(),
+    1652             :               path_in.header.stamp.toSec());
+    1653           0 :     return {};
+    1654             :   }
+    1655             : 
+    1656           0 :   mrs_msgs::Path path_out = path_in;
+    1657             : 
+    1658           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1659           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1660             : 
+    1661           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1662             : 
+    1663           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1664             : 
+    1665           0 :     waypoint.header    = path_in.header;
+    1666           0 :     waypoint.reference = path_in.points.at(i);
+    1667             : 
+    1668           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1669             : 
+    1670           0 :       path_out.points.at(i) = ret.value().reference;
+    1671             : 
+    1672             :     } else {
+    1673           0 :       return {};
+    1674             :     }
+    1675             :   }
+    1676             : 
+    1677           0 :   return path_out;
+    1678             : }
+    1679             : 
+    1680             : //}
+    1681             : 
+    1682             : /* overtime() //{ */
+    1683             : 
+    1684        9667 : bool MrsTrajectoryGeneration::overtime(void) {
+    1685             : 
+    1686        9667 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1687        9667 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1688             : 
+    1689        9667 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1690             : 
+    1691        9667 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1692          11 :     return true;
+    1693             :   }
+    1694             : 
+    1695        9656 :   return false;
+    1696             : }
+    1697             : 
+    1698             : //}
+    1699             : 
+    1700             : /* timeLeft() //{ */
+    1701             : 
+    1702          16 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1703             : 
+    1704          16 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1705          16 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1706             : 
+    1707          16 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1708             : 
+    1709          16 :   if (current_execution_time >= max_execution_time) {
+    1710           0 :     return 0;
+    1711             :   } else {
+    1712          16 :     return max_execution_time - current_execution_time;
+    1713             :   }
+    1714             : }
+    1715             : 
+    1716             : //}
+    1717             : 
+    1718             : // | ------------------------ callbacks ----------------------- |
+    1719             : 
+    1720             : /* callbackPath() //{ */
+    1721             : 
+    1722           1 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::Path::ConstPtr msg) {
+    1723             : 
+    1724           1 :   if (!is_initialized_) {
+    1725           0 :     return;
+    1726             :   }
+    1727             : 
+    1728             :   /* preconditions //{ */
+    1729             : 
+    1730           1 :   if (!sh_constraints_.hasMsg()) {
+    1731           0 :     std::stringstream ss;
+    1732           0 :     ss << "missing constraints";
+    1733           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1734           0 :     return;
+    1735             :   }
+    1736             : 
+    1737           1 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1738           0 :     std::stringstream ss;
+    1739           0 :     ss << "missing control manager diagnostics";
+    1740           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1741           0 :     return;
+    1742             :   }
+    1743             : 
+    1744           1 :   if (!sh_uav_state_.hasMsg()) {
+    1745           0 :     std::stringstream ss;
+    1746           0 :     ss << "missing UAV state";
+    1747           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1748           0 :     return;
+    1749             :   }
+    1750             : 
+    1751             :   //}
+    1752             : 
+    1753             :   {
+    1754           2 :     std::scoped_lock lock(mutex_start_time_total_);
+    1755             : 
+    1756           1 :     start_time_total_ = ros::Time::now();
+    1757             :   }
+    1758             : 
+    1759           1 :   double path_time_offset = 0;
+    1760             : 
+    1761           1 :   if (msg->header.stamp != ros::Time(0)) {
+    1762           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1763             :   }
+    1764             : 
+    1765           1 :   if (path_time_offset > 1e-3) {
+    1766             : 
+    1767           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1768             : 
+    1769           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1770             : 
+    1771           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1772             :              path_time_offset);
+    1773             :   } else {
+    1774             : 
+    1775           1 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1776             : 
+    1777           1 :     max_execution_time_ = params_.max_execution_time;
+    1778             :   }
+    1779             : 
+    1780           1 :   ROS_INFO("[TrajectoryGeneration]: got path from message");
+    1781             : 
+    1782           1 :   ph_original_path_.publish(msg);
+    1783             : 
+    1784           1 :   if (msg->points.empty()) {
+    1785           0 :     std::stringstream ss;
+    1786           0 :     ss << "received an empty message";
+    1787           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1788           0 :     return;
+    1789             :   }
+    1790             : 
+    1791           2 :   auto transformed_path = transformPath(*msg, "");
+    1792             : 
+    1793           1 :   if (!transformed_path) {
+    1794           0 :     std::stringstream ss;
+    1795           0 :     ss << "could not transform the path to the current control frame";
+    1796           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1797           0 :     return;
+    1798             :   }
+    1799             : 
+    1800           1 :   fly_now_                              = transformed_path->fly_now;
+    1801           1 :   use_heading_                          = transformed_path->use_heading;
+    1802           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1803           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1804           1 :   loop_                                 = transformed_path->loop;
+    1805           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1806           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1807           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1808           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1809           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1810           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1811           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1812             : 
+    1813           1 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1814             : 
+    1815           1 :   if (transformed_path->max_execution_time > 0) {
+    1816             : 
+    1817           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1818             : 
+    1819           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1820             : 
+    1821             :   } else {
+    1822             : 
+    1823           1 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1824             : 
+    1825           1 :     max_execution_time_ = params.max_execution_time;
+    1826             :   }
+    1827             : 
+    1828           1 :   if (transformed_path->max_deviation_from_path > 0) {
+    1829           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1830             :   } else {
+    1831           1 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1832             :   }
+    1833             : 
+    1834           1 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1835             : 
+    1836           1 :   std::vector<Waypoint_t> waypoints;
+    1837             : 
+    1838           5 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1839             : 
+    1840           4 :     double x       = transformed_path->points.at(i).position.x;
+    1841           4 :     double y       = transformed_path->points.at(i).position.y;
+    1842           4 :     double z       = transformed_path->points.at(i).position.z;
+    1843           4 :     double heading = transformed_path->points.at(i).heading;
+    1844             : 
+    1845           4 :     Waypoint_t wp;
+    1846           4 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1847           4 :     wp.stop_at = stop_at_waypoints_;
+    1848             : 
+    1849           4 :     if (!checkNaN(wp)) {
+    1850           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1851           0 :       return;
+    1852             :     }
+    1853             : 
+    1854           4 :     waypoints.push_back(wp);
+    1855             :   }
+    1856             : 
+    1857           1 :   if (loop_) {
+    1858           0 :     waypoints.push_back(waypoints.at(0));
+    1859             :   }
+    1860             : 
+    1861           1 :   bool                          success = false;
+    1862           2 :   std::string                   message;
+    1863           2 :   mrs_msgs::TrajectoryReference trajectory;
+    1864             : 
+    1865           2 :   for (int i = 0; i < _n_attempts_; i++) {
+    1866             : 
+    1867             :     // the last iteration and the fallback sampling is enabled
+    1868           2 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1869             : 
+    1870           2 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    1871             : 
+    1872           2 :     if (success) {
+    1873           1 :       break;
+    1874             :     } else {
+    1875           1 :       if (i < _n_attempts_) {
+    1876           1 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1877             :       } else {
+    1878           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1879             :       }
+    1880             :     }
+    1881             :   }
+    1882             : 
+    1883           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1884             : 
+    1885           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1886             : 
+    1887           1 :   if (total_time > max_execution_time) {
+    1888           0 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1889             :               total_time - max_execution_time);
+    1890             :   } else {
+    1891           1 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1892             :   }
+    1893             : 
+    1894           1 :   trajectory.input_id = transformed_path->input_id;
+    1895             : 
+    1896           1 :   if (success) {
+    1897             : 
+    1898           1 :     bool published = trajectorySrv(trajectory);
+    1899             : 
+    1900           1 :     if (published) {
+    1901             : 
+    1902           1 :       ROS_INFO("[TrajectoryGeneration]: trajectory successfully published");
+    1903             : 
+    1904             :     } else {
+    1905             : 
+    1906           0 :       ROS_ERROR("[TrajectoryGeneration]: could not publish the trajectory");
+    1907             :     }
+    1908             : 
+    1909             :   } else {
+    1910             : 
+    1911           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1912             :   }
+    1913             : }
+    1914             : 
+    1915             : //}
+    1916             : 
+    1917             : /* callbackPathSrv() //{ */
+    1918             : 
+    1919           3 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1920             : 
+    1921           3 :   if (!is_initialized_) {
+    1922           0 :     return false;
+    1923             :   }
+    1924             : 
+    1925             :   /* preconditions //{ */
+    1926             : 
+    1927           3 :   if (!sh_constraints_.hasMsg()) {
+    1928           0 :     std::stringstream ss;
+    1929           0 :     ss << "missing constraints";
+    1930           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1931             : 
+    1932           0 :     res.message = ss.str();
+    1933           0 :     res.success = false;
+    1934           0 :     return true;
+    1935             :   }
+    1936             : 
+    1937           3 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1938           0 :     std::stringstream ss;
+    1939           0 :     ss << "missing control manager diagnostics";
+    1940           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1941             : 
+    1942           0 :     res.message = ss.str();
+    1943           0 :     res.success = false;
+    1944           0 :     return true;
+    1945             :   }
+    1946             : 
+    1947           3 :   if (!sh_uav_state_.hasMsg()) {
+    1948           0 :     std::stringstream ss;
+    1949           0 :     ss << "missing UAV state";
+    1950           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1951             : 
+    1952           0 :     res.message = ss.str();
+    1953           0 :     res.success = false;
+    1954           0 :     return true;
+    1955             :   }
+    1956             : 
+    1957             :   //}
+    1958             : 
+    1959             :   {
+    1960           6 :     std::scoped_lock lock(mutex_start_time_total_);
+    1961             : 
+    1962           3 :     start_time_total_ = ros::Time::now();
+    1963             :   }
+    1964             : 
+    1965           3 :   double path_time_offset = 0;
+    1966             : 
+    1967           3 :   if (req.path.header.stamp != ros::Time(0)) {
+    1968           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1969             :   }
+    1970             : 
+    1971           3 :   if (path_time_offset > 1e-3) {
+    1972             : 
+    1973           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1974             : 
+    1975           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1976             : 
+    1977           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1978             :              path_time_offset);
+    1979             :   } else {
+    1980             : 
+    1981           3 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1982             : 
+    1983           3 :     max_execution_time_ = params_.max_execution_time;
+    1984             :   }
+    1985             : 
+    1986           3 :   ROS_INFO("[TrajectoryGeneration]: got path from service");
+    1987             : 
+    1988           3 :   ph_original_path_.publish(req.path);
+    1989             : 
+    1990           3 :   if (req.path.points.empty()) {
+    1991           0 :     std::stringstream ss;
+    1992           0 :     ss << "received an empty message";
+    1993           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1994             : 
+    1995           0 :     res.message = ss.str();
+    1996           0 :     res.success = false;
+    1997           0 :     return true;
+    1998             :   }
+    1999             : 
+    2000           9 :   auto transformed_path = transformPath(req.path, "");
+    2001             : 
+    2002           3 :   if (!transformed_path) {
+    2003           0 :     std::stringstream ss;
+    2004           0 :     ss << "could not transform the path to the current control frame";
+    2005           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2006             : 
+    2007           0 :     res.message = ss.str();
+    2008           0 :     res.success = false;
+    2009           0 :     return true;
+    2010             :   }
+    2011             : 
+    2012           3 :   fly_now_                              = transformed_path->fly_now;
+    2013           3 :   use_heading_                          = transformed_path->use_heading;
+    2014           3 :   frame_id_                             = transformed_path->header.frame_id;
+    2015           3 :   override_constraints_                 = transformed_path->override_constraints;
+    2016           3 :   loop_                                 = transformed_path->loop;
+    2017           3 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2018           3 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2019           3 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2020           3 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2021           3 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2022           3 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2023           3 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2024             : 
+    2025           6 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2026             : 
+    2027           3 :   if (transformed_path->max_execution_time > 0) {
+    2028             : 
+    2029           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2030             : 
+    2031           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2032             : 
+    2033             :   } else {
+    2034             : 
+    2035           3 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2036             : 
+    2037           3 :     max_execution_time_ = params.max_execution_time;
+    2038             :   }
+    2039             : 
+    2040           3 :   if (transformed_path->max_deviation_from_path > 0) {
+    2041           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2042             :   } else {
+    2043           3 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2044             :   }
+    2045             : 
+    2046           3 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2047             : 
+    2048           6 :   std::vector<Waypoint_t> waypoints;
+    2049             : 
+    2050          15 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    2051             : 
+    2052          12 :     double x       = transformed_path->points.at(i).position.x;
+    2053          12 :     double y       = transformed_path->points.at(i).position.y;
+    2054          12 :     double z       = transformed_path->points.at(i).position.z;
+    2055          12 :     double heading = transformed_path->points.at(i).heading;
+    2056             : 
+    2057          12 :     Waypoint_t wp;
+    2058          12 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2059          12 :     wp.stop_at = stop_at_waypoints_;
+    2060             : 
+    2061          12 :     if (!checkNaN(wp)) {
+    2062           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2063           0 :       res.success = false;
+    2064           0 :       res.message = "invalid path";
+    2065           0 :       return true;
+    2066             :     }
+    2067             : 
+    2068          12 :     waypoints.push_back(wp);
+    2069             :   }
+    2070             : 
+    2071           3 :   if (loop_) {
+    2072           0 :     waypoints.push_back(waypoints.at(0));
+    2073             :   }
+    2074             : 
+    2075           3 :   bool                          success = false;
+    2076           6 :   std::string                   message;
+    2077           3 :   mrs_msgs::TrajectoryReference trajectory;
+    2078             : 
+    2079           5 :   for (int i = 0; i < _n_attempts_; i++) {
+    2080             : 
+    2081             :     // the last iteration and the fallback sampling is enabled
+    2082           5 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2083             : 
+    2084           5 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2085             : 
+    2086           5 :     if (success) {
+    2087           3 :       break;
+    2088             :     } else {
+    2089           2 :       if (i < _n_attempts_) {
+    2090           2 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2091             :       } else {
+    2092           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2093             :       }
+    2094             :     }
+    2095             :   }
+    2096             : 
+    2097           3 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2098             : 
+    2099           3 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2100             : 
+    2101           3 :   if (total_time > max_execution_time) {
+    2102           1 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2103             :               total_time - max_execution_time);
+    2104             :   } else {
+    2105           2 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2106             :   }
+    2107             : 
+    2108           3 :   trajectory.input_id = transformed_path->input_id;
+    2109             : 
+    2110           3 :   if (success) {
+    2111             : 
+    2112           3 :     bool published = trajectorySrv(trajectory);
+    2113             : 
+    2114           3 :     if (published) {
+    2115             : 
+    2116           3 :       res.success = success;
+    2117           3 :       res.message = message;
+    2118             : 
+    2119             :     } else {
+    2120             : 
+    2121           0 :       std::stringstream ss;
+    2122           0 :       ss << "could not publish the trajectory";
+    2123             : 
+    2124           0 :       res.success = false;
+    2125           0 :       res.message = ss.str();
+    2126             : 
+    2127           0 :       ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    2128             :     }
+    2129             : 
+    2130             :   } else {
+    2131             : 
+    2132           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2133             : 
+    2134           0 :     res.success = success;
+    2135           0 :     res.message = message;
+    2136             :   }
+    2137             : 
+    2138           3 :   return true;
+    2139             : }
+    2140             : 
+    2141             : //}
+    2142             : 
+    2143             : /* callbackGetPathSrv() //{ */
+    2144             : 
+    2145           2 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2146             : 
+    2147           2 :   if (!is_initialized_) {
+    2148           0 :     return false;
+    2149             :   }
+    2150             : 
+    2151             :   /* preconditions //{ */
+    2152             : 
+    2153           2 :   if (!sh_constraints_.hasMsg()) {
+    2154           0 :     std::stringstream ss;
+    2155           0 :     ss << "missing constraints";
+    2156           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2157             : 
+    2158           0 :     res.message = ss.str();
+    2159           0 :     res.success = false;
+    2160           0 :     return true;
+    2161             :   }
+    2162             : 
+    2163           2 :   if (!sh_control_manager_diag_.hasMsg()) {
+    2164           0 :     std::stringstream ss;
+    2165           0 :     ss << "missing control manager diagnostics";
+    2166           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2167             : 
+    2168           0 :     res.message = ss.str();
+    2169           0 :     res.success = false;
+    2170           0 :     return true;
+    2171             :   }
+    2172             : 
+    2173           2 :   if (!sh_uav_state_.hasMsg()) {
+    2174           0 :     std::stringstream ss;
+    2175           0 :     ss << "missing UAV state";
+    2176           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2177             : 
+    2178           0 :     res.message = ss.str();
+    2179           0 :     res.success = false;
+    2180           0 :     return true;
+    2181             :   }
+    2182             : 
+    2183             :   //}
+    2184             : 
+    2185             :   {
+    2186           4 :     std::scoped_lock lock(mutex_start_time_total_);
+    2187             : 
+    2188           2 :     start_time_total_ = ros::Time::now();
+    2189             :   }
+    2190             : 
+    2191           2 :   double path_time_offset = 0;
+    2192             : 
+    2193           2 :   if (req.path.header.stamp != ros::Time(0)) {
+    2194           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2195             :   }
+    2196             : 
+    2197           2 :   if (path_time_offset > 1e-3) {
+    2198             : 
+    2199           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2200             : 
+    2201           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2202             : 
+    2203           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2204             :              path_time_offset);
+    2205             :   } else {
+    2206             : 
+    2207           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2208             : 
+    2209           2 :     max_execution_time_ = params_.max_execution_time;
+    2210             :   }
+    2211             : 
+    2212           2 :   ROS_INFO("[TrajectoryGeneration]: got path from service");
+    2213             : 
+    2214           2 :   ph_original_path_.publish(req.path);
+    2215             : 
+    2216           2 :   if (req.path.points.empty()) {
+    2217           0 :     std::stringstream ss;
+    2218           0 :     ss << "received an empty message";
+    2219           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2220             : 
+    2221           0 :     res.message = ss.str();
+    2222           0 :     res.success = false;
+    2223           0 :     return true;
+    2224             :   }
+    2225             : 
+    2226             :   // if the path frame_id is latlon_origin, set UTM zone by calling setLatLon for mrs_lib::transformer using the first point in the trajectory
+    2227           2 :   if (req.path.header.frame_id == "latlon_origin") {
+    2228           0 :     transformer_->setLatLon(req.path.points.front().position.x, req.path.points.front().position.y);
+    2229             :   }
+    2230             : 
+    2231           6 :   auto transformed_path = transformPath(req.path, "");
+    2232             : 
+    2233           2 :   if (!transformed_path) {
+    2234           0 :     std::stringstream ss;
+    2235           0 :     ss << "could not transform the path to the current control frame";
+    2236           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2237             : 
+    2238           0 :     res.message = ss.str();
+    2239           0 :     res.success = false;
+    2240           0 :     return true;
+    2241             :   }
+    2242             : 
+    2243           2 :   fly_now_                              = transformed_path->fly_now;
+    2244           2 :   use_heading_                          = transformed_path->use_heading;
+    2245           2 :   frame_id_                             = transformed_path->header.frame_id;
+    2246           2 :   override_constraints_                 = transformed_path->override_constraints;
+    2247           2 :   loop_                                 = transformed_path->loop;
+    2248           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2249           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2250           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2251           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2252           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2253           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2254           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2255             : 
+    2256           4 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2257             : 
+    2258           2 :   if (transformed_path->max_execution_time > 0) {
+    2259             : 
+    2260           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2261             : 
+    2262           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2263             : 
+    2264             :   } else {
+    2265             : 
+    2266           2 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2267             : 
+    2268           2 :     max_execution_time_ = params.max_execution_time;
+    2269             :   }
+    2270             : 
+    2271           2 :   if (transformed_path->max_deviation_from_path > 0) {
+    2272           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2273             :   } else {
+    2274           2 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2275             :   }
+    2276             : 
+    2277           2 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2278             : 
+    2279           4 :   std::vector<Waypoint_t> waypoints;
+    2280             : 
+    2281          10 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2282             : 
+    2283           8 :     double x       = transformed_path->points.at(i).position.x;
+    2284           8 :     double y       = transformed_path->points.at(i).position.y;
+    2285           8 :     double z       = transformed_path->points.at(i).position.z;
+    2286           8 :     double heading = transformed_path->points.at(i).heading;
+    2287             : 
+    2288           8 :     Waypoint_t wp;
+    2289           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2290           8 :     wp.stop_at = stop_at_waypoints_;
+    2291             : 
+    2292           8 :     if (!checkNaN(wp)) {
+    2293           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2294           0 :       res.success = false;
+    2295           0 :       res.message = "invalid path";
+    2296           0 :       return true;
+    2297             :     }
+    2298             : 
+    2299           8 :     waypoints.push_back(wp);
+    2300             :   }
+    2301             : 
+    2302           2 :   if (loop_) {
+    2303           0 :     waypoints.push_back(waypoints.at(0));
+    2304             :   }
+    2305             : 
+    2306           2 :   bool                          success = false;
+    2307           4 :   std::string                   message;
+    2308           4 :   mrs_msgs::TrajectoryReference trajectory;
+    2309             : 
+    2310           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2311             : 
+    2312             :     // the last iteration and the fallback sampling is enabled
+    2313           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2314             : 
+    2315           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2316             : 
+    2317           4 :     if (success) {
+    2318           2 :       break;
+    2319             :     } else {
+    2320           2 :       if (i < _n_attempts_) {
+    2321           2 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2322             :       } else {
+    2323           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2324             :       }
+    2325             :     }
+    2326             :   }
+    2327             : 
+    2328           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2329             : 
+    2330           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2331             : 
+    2332           2 :   if (total_time > max_execution_time) {
+    2333           0 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2334             :               total_time - max_execution_time);
+    2335             :   } else {
+    2336           2 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2337             :   }
+    2338             : 
+    2339           2 :   if (success) {
+    2340             : 
+    2341           4 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2342             : 
+    2343           2 :     std::stringstream ss;
+    2344             : 
+    2345           2 :     if (!tf_traj_state) {
+    2346           0 :       ss << "could not create TF transformer for the trajectory to the requested frame: \"" << req.path.header.frame_id << "\"";
+    2347           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2348           0 :       res.success = false;
+    2349           0 :       res.message = ss.str();
+    2350           0 :       return true;
+    2351             :     }
+    2352             : 
+    2353           2 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2354             : 
+    2355         328 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2356             : 
+    2357         326 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2358         326 :       trajectory_point.header    = trajectory.header;
+    2359         326 :       trajectory_point.reference = trajectory.points.at(i);
+    2360             : 
+    2361         326 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2362             : 
+    2363         326 :       if (!ret) {
+    2364             : 
+    2365           0 :         ss << "trajectory cannot be transformed to the requested frame: \"" << req.path.header.frame_id << "\"";
+    2366           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2367           0 :         res.success = false;
+    2368           0 :         res.message = ss.str();
+    2369           0 :         return true;
+    2370             : 
+    2371             :       } else {
+    2372             : 
+    2373             :         // transform the points in the trajectory to the current frame
+    2374         326 :         trajectory.points.at(i) = ret.value().reference;
+    2375             :       }
+    2376             :     }
+    2377             : 
+    2378           2 :     res.trajectory = trajectory;
+    2379           2 :     res.success    = success;
+    2380           2 :     res.message    = message;
+    2381             : 
+    2382             :   } else {
+    2383             : 
+    2384           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2385             : 
+    2386           0 :     res.success = success;
+    2387           0 :     res.message = message;
+    2388             :   }
+    2389             : 
+    2390           2 :   return true;
+    2391             : }
+    2392             : 
+    2393             : //}
+    2394             : 
+    2395             : /* callbackUavState() //{ */
+    2396             : 
+    2397      172426 : void MrsTrajectoryGeneration::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    2398             : 
+    2399      172426 :   if (!is_initialized_) {
+    2400           0 :     return;
+    2401             :   }
+    2402             : 
+    2403      172426 :   ROS_INFO_ONCE("[TrajectoryGeneration]: getting uav state");
+    2404             : 
+    2405      172426 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2406             : }
+    2407             : 
+    2408             : //}
+    2409             : 
+    2410             : /* //{ callbackDrs() */
+    2411             : 
+    2412         108 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2413             : 
+    2414         108 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2415             : 
+    2416             :   {
+    2417         108 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2418             : 
+    2419         108 :     max_execution_time_ = params.max_execution_time;
+    2420             :   }
+    2421             : 
+    2422         108 :   ROS_INFO("[TrajectoryGeneration]: DRS updated");
+    2423         108 : }
+    2424             : 
+    2425             : //}
+    2426             : 
+    2427             : }  // namespace mrs_uav_trajectory_generation
+    2428             : 
+    2429             : #include <pluginlib/class_list_macros.h>
+    2430         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trajectory_generation::MrsTrajectoryGeneration, nodelet::Nodelet);
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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