FaultyController.hpp

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// Copyright 2026 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_CONTROLLER__FAULT_INJECTION__FAULTYCONTROLLER_HPP_
#define EASYNAV_CONTROLLER__FAULT_INJECTION__FAULTYCONTROLLER_HPP_
 
#include <string>
 
#include "geometry_msgs/msg/twist_stamped.hpp"
 
#include "easynav_core/ControllerMethodBase.hpp"
 
namespace easynav
{

class FaultyController : public ControllerMethodBase
{
public:
  void on_initialize() override;

  void update_rt(NavState & nav_state) override;
 
private:
  void command(NavState & nav_state, double linear, double angular);
 
  std::string fault_ {"none"};
  int fault_after_ {0};
  double linear_vel_ {0.5};
  double angular_vel_ {0.0};
  double hang_time_ {1.0};
 
  int updates_ {0};
  geometry_msgs::msg::TwistStamped cmd_vel_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__FAULT_INJECTION__FAULTYCONTROLLER_HPP_