Vector3 computeDesiredForce(const SE3Type & pose, const Vector3 & linear_velocity,
double delta_time) {
Vector3 desired_position(0,0,1);
Vector3 desired_velocity(0,0,0);
// Vector3 kp(1,1,1) ;
// Vector3 kd(1,1,1);
// Vector3 ki(0.0015,0.0015,0.0015) ;
//for ukf after redirecting to log
Vector3 kp(4,4,4) ;
Vector3 kd(3,3,3);
Vector3 ki(0.002,0.002,0.002) ;
Vector3 current_position=pose.translation();
std::cout << "\nCurrent Position" << current_position ;
Vector3 proportiona_val= kp.cwiseProduct(desired_position-current_position);
Vector3 differential_val=kd.cwiseProduct(desired_velocity-linear_velocity);
accumulated_error = accumulated_error+(desired_position-current_position) ;
Vector3 integral_value=ki.cwiseProduct(accumulated_error);
Vector3 desired_force=proportiona_val+ differential_val+integral_value;
std::cout << "\ndesired_force is" << desired_force ;
return desired_force;
}
void groundTruthPoseCallback(
const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) {
Eigen::Quaterniond orientation;
Eigen::Vector3d position;
tf::pointMsgToEigen(msg->pose.pose.position, position);
tf::quaternionMsgToEigen(msg->pose.pose.orientation, orientation);
SE3Type pose(orientation.cast<_Scalar>(), position.cast<_Scalar>());
ground_truth_linear_velocity = (pose.translation()
- ground_truth_pose.translation())
/ (msg->header.stamp.toSec() - ground_truth_time);
ground_truth_pose = pose;
ground_truth_time = msg->header.stamp.toSec();
}
