Merge pull request #66 from rosflight/rename-classes-enums-structs

Naming, headers, and declaration changes to match style guide

rosplane/include/controller_base.hpp

@@ -11,14 +11,14 @@
 #define CONTROLLER_BASE_H
 
 #include <chrono>
-#include <cstring>
-#include <ament_index_cpp/get_package_share_directory.hpp>
+
 #include <rclcpp/rclcpp.hpp>
 #include <rosflight_msgs/msg/command.hpp>
-#include <rosplane_msgs/msg/controller_commands.hpp>
-#include <rosplane_msgs/msg/controller_internals.hpp>
-#include <rosplane_msgs/msg/state.hpp>
-#include <param_manager.hpp>
+
+#include "param_manager.hpp"
+#include "rosplane_msgs/msg/controller_commands.hpp"
+#include "rosplane_msgs/msg/controller_internals.hpp"
+#include "rosplane_msgs/msg/state.hpp"
 
 using std::placeholders::_1;
 using namespace std::chrono_literals;
@@ -28,7 +28,7 @@ namespace rosplane
 /**
  * This defines the different portions of the control algorithm.
  */
-enum class alt_zones
+enum class AltZones
 {
   TAKE_OFF, /**< In the take off zone where the aircraft gains speed and altitude */
   CLIMB, /**< In the climb zone the aircraft proceeds to commanded altitude without course change. */
@@ -39,13 +39,13 @@ enum class alt_zones
  * This class implements all of the basic functionality of a controller interfacing with ROS2.
  */
 
-class controller_base : public rclcpp::Node
+class ControllerBase : public rclcpp::Node
 {
 public:
   /**
    * Constructor for ROS2 setup and parameter initialization.
    */
-  controller_base();
+  ControllerBase();
 
   /**
    * Gets the current phi_c value from the current private command message.
@@ -68,7 +68,7 @@ class controller_base : public rclcpp::Node
   /**
    * This struct holds all of the inputs to the control algorithm.
    */
-  struct input_s
+  struct Input
   {
     float Ts;     /**< time step */
     float h;      /**< altitude */
@@ -88,28 +88,28 @@ class controller_base : public rclcpp::Node
   /**
    * This struct holds all of the outputs of the control algorithm.
    */
-  struct output_s
+  struct Output
   {
     float theta_c;          /**< The commanded pitch angle from the altitude control loop */
     float phi_c;            /**< The commanded roll angle from the course control loop */
     float delta_e;          /**< The commanded elevator deflection */
     float delta_a;          /**< The commanded aileron deflection */
     float delta_r;          /**< The commanded rudder deflection */
     float delta_t;          /**< The commanded throttle deflection */
-    alt_zones current_zone; /**< The current altitude zone for the control */
+    AltZones current_zone; /**< The current altitude zone for the control */
   };
 
   /**
    * Parameter manager object. Contains helper functions to interface parameters with ROS.
   */
-  param_manager params;
+  ParamManager params_;
 
   /**
    * Interface for control algorithm.
    * @param input Inputs to the control algorithm.
    * @param output Outputs of the controller, including selected intermediate values and final control efforts.
    */
-  virtual void control(const struct input_s & input, struct output_s & output) = 0;
+  virtual void control(const Input & input, Output & output) = 0;
 
 private:
   /**
@@ -165,7 +165,7 @@ class controller_base : public rclcpp::Node
   /**
    * Convert from deflection angle in radians to pwm.
    */
-  void convert_to_pwm(struct output_s & output);
+  void convert_to_pwm(Output & output);
 
   /**
    * Calls the control function and publishes outputs and intermediate values to the command and controller internals

rosplane/include/controller_state_machine.hpp

@@ -6,49 +6,49 @@
 namespace rosplane
 {
 
-class controller_state_machine : public controller_base
+class ControllerStateMachine : public ControllerBase
 {
 
 public:
-  controller_state_machine();
+  ControllerStateMachine();
 
   /**
  * The state machine for the control algorithm for the autopilot.
  * @param input The command inputs to the controller such as course and airspeed.
  * @param output The control efforts calculated and selected intermediate values.
  */
-  virtual void control(const struct input_s & input,
-                       struct output_s & output);
+  virtual void control(const Input & input,
+                       Output & output);
 
 protected:
   /**
    * The current zone of the control algorithm based on altitude.
    */
-  alt_zones current_zone;
+  AltZones current_zone_;
 
   /**
    * This function continually loops while the aircraft is in the take-off zone. It is implemented by the child.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void take_off(const struct input_s & input,
-                        struct output_s & output) = 0;
+  virtual void take_off(const Input & input,
+                        Output & output) = 0;
 
   /**
    * This function continually loops while the aircraft is in the climb zone. It is implemented by the child.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void climb(const struct input_s & input,
-                     struct output_s & output) = 0;
+  virtual void climb(const Input & input,
+                     Output & output) = 0;
 
   /**
    * This function continually loops while the aircraft is in the altitude hold zone. It is implemented by the child.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void altitude_hold(const struct input_s & input,
-                             struct output_s & output) = 0;
+  virtual void altitude_hold(const Input & input,
+                             Output & output) = 0;
 
   /**
    * This function runs when the aircraft exits the take-off zone this is often used to reset integrator values. It is

rosplane/include/controller_successive_loop.hpp

@@ -6,13 +6,13 @@
 namespace rosplane
 {
 
-class controller_successive_loop : public controller_state_machine
+class ControllerSucessiveLoop : public ControllerStateMachine
 {
 public:
   /**
    * Constructor to initialize node.
    */
-  controller_successive_loop();
+  ControllerSucessiveLoop();
 
 protected:
   /**
@@ -21,26 +21,26 @@ class controller_successive_loop : public controller_state_machine
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void take_off(const struct input_s & input,
-                        struct output_s & output);
+  virtual void take_off(const Input & input,
+                        Output & output);
 
   /**
    * This function continually loops while the aircraft is in the climb zone. The lateral and longitudinal control
    * for the climb zone is called in this function.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void climb(const struct input_s & input,
-                     struct output_s & output);
+  virtual void climb(const Input & input,
+                     Output & output);
 
   /**
    * This function continually loops while the aircraft is in the altitude hold zone. The lateral and longitudinal 
    * control for the altitude hold zone is called in this function.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void altitude_hold(const struct input_s & input,
-                             struct output_s & output);
+  virtual void altitude_hold(const Input & input,
+                             Output & output);
 
   /**
    * This function runs when the aircraft exits the take-off zone. Any changes to the controller that need to happen
@@ -66,45 +66,45 @@ class controller_successive_loop : public controller_state_machine
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void alt_hold_lateral_control(const struct input_s & input, struct output_s & output);
+  virtual void alt_hold_lateral_control(const Input & input, Output & output);
 
   /**
    * This function runs the longitudinal control loops for the altitude hold zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void alt_hold_longitudinal_control(const struct input_s & input,
-                                             struct output_s & output);
+  virtual void alt_hold_longitudinal_control(const Input & input,
+                                             Output & output);
 
   /**
    * This function runs the lateral control loops for the climb zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void climb_lateral_control(const struct input_s & input,
-                                     struct output_s & output);
+  virtual void climb_lateral_control(const Input & input,
+                                     Output & output);
 
   /**
    * This function runs the longitudinal control loops for the climb zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void climb_longitudinal_control(const struct input_s & input, struct output_s & output);
+  virtual void climb_longitudinal_control(const Input & input, Output & output);
 
   /**
    * This function runs the lateral control loops for the take-off zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void take_off_lateral_control(const struct input_s & input, struct output_s & output);
+  virtual void take_off_lateral_control(const Input & input, Output & output);
 
   /**
    * This function runs the longitudinal control loops for the take-off zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void take_off_longitudinal_control(const struct input_s & input,
-                                             struct output_s & output);
+  virtual void take_off_longitudinal_control(const Input & input,
+                                             Output & output);
 
   /**
    * The control loop for moving to and holding a commanded course.
@@ -216,8 +216,8 @@ class controller_successive_loop : public controller_state_machine
   //    float ct_differentiator_;
   float yaw_damper(float r);
 
-  float delta_r_delay;
-  float r_delay;
+  float delta_r_delay_;
+  float r_delay_;
 
  /**
  * Saturate a given value to a maximum or minimum of the limits.

rosplane/include/controller_total_energy.hpp

@@ -6,37 +6,37 @@
 namespace rosplane
 {
 
-class controller_total_energy : public controller_successive_loop
+class ControllerTotalEnergy : public ControllerSucessiveLoop
 {
 public:
   /**
    * Constructor to initialize node.
    */
-  controller_total_energy();
+  ControllerTotalEnergy();
 
 protected:
   /**
    * This function overrides the longitudinal control loops for the take-off zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void take_off_longitudinal_control(const struct input_s & input,
-                                             struct output_s & output);
+  virtual void take_off_longitudinal_control(const Input & input,
+                                             Output & output);
 
   /**
    * This function overrides the longitudinal control loops for the climb zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void climb_longitudinal_control(const struct input_s & input, struct output_s & output);
+  virtual void climb_longitudinal_control(const Input & input, Output & output);
 
   /**
    * This function overrides the longitudinal control loops for the altitude hold zone.
    * @param input The command inputs to the controller such as course and airspeed.
    * @param output The control efforts calculated and selected intermediate values.
    */
-  virtual void alt_hold_longitudinal_control(const struct input_s & input,
-                                             struct output_s & output);
+  virtual void alt_hold_longitudinal_control(const Input & input,
+                                             Output & output);
 
   /**
    * This function overrides when the aircraft exits the take-off zone. Any changes to the controller that need to happen
@@ -101,17 +101,17 @@ class controller_total_energy : public controller_successive_loop
   /**
    * This is the current reference (desired) kinetic energy.
    */
-  float K_ref;
+  float K_ref_;
 
   /**
    * This is the current error in the kinetic energy.
    */
-  float K_error;
+  float K_error_;
 
   /**
    * This is the current error in the potential energy.
    */
-  float U_error;
+  float U_error_;
 
   /**
    * The previous error in the energy balance.