CommandGuardTest Class Reference

Inheritance diagram for CommandGuardTest:

Collaboration diagram for CommandGuardTest:

Protected Member Functions
bool	configure (double cmd_timeout, double keepalive_period=0.0)
std::optional< DiagnosticStatus >	diagnostic () const
void	propose (VelocitySource source, const geometry_msgs::msg::TwistStamped &c)
void	SetUp () override
VelocityMux::Selection	step (double t)

Protected Attributes
bool	discarded_ {false}
easynav::safety::CommandGuard	guard_
VelocityMux	mux_
easynav::NavState	nav_state_
rclcpp_lifecycle::LifecycleNode::SharedPtr	node_

Member Function Documentation

configure()

bool configure ( double cmd_timeout, double keepalive_period = 0.0 )

protected

diagnostic()

std::optional< DiagnosticStatus > diagnostic ( ) const

protected

propose()

void propose ( VelocitySource source, const geometry_msgs::msg::TwistStamped & c )

protected

SetUp()

void SetUp ( )

overrideprotected

step()

VelocityMux::Selection step ( double t )

protected

Member Data Documentation

discarded_

bool discarded_ {false}

protected

guard_

easynav::safety::CommandGuard guard_

protected

mux_

VelocityMux mux_

protected

nav_state_

easynav::NavState nav_state_

protected

node_

rclcpp_lifecycle::LifecycleNode::SharedPtr node_

protected

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The documentation for this class was generated from the following file:

• easynav_controller/tests/command_guard_tests.cpp