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DummyController Class Reference

A default "dummy" implementation for the Control Method. More...

#include <DummyController.hpp>

Inheritance diagram for DummyController:
Collaboration diagram for DummyController:

Public Member Functions

 DummyController ()=default
 
virtual std::expected< void, std::string > on_initialize () override
 Initializes the control method plugin.
 
virtual void update_rt (NavState &nav_state) override
 Run the control method and update the control command.
 
 ~DummyController ()=default
 

Detailed Description

A default "dummy" implementation for the Control Method.

This control method does nothing. It serves as an example, and will be used as a default plugin implementation if the navigation system configuration does not specify one.

Constructor & Destructor Documentation

◆ DummyController()

DummyController ( )
default

◆ ~DummyController()

~DummyController ( )
default

Member Function Documentation

◆ on_initialize()

std::expected< void, std::string > on_initialize ( )
overridevirtual

Initializes the control method plugin.

This method is called once during the configuration phase of the controller node, and can be optionally overridden by derived classes to perform custom setup logic.

Returns
std::expected<void, std::string> Returns an expected object:
  • void if initialization was successful,
  • a std::string containing an error message if initialization failed.

◆ update_rt()

void update_rt ( NavState & nav_state)
overridevirtual

Run the control method and update the control command.

This method will be called by the system's ControllerNode to run the control algorithm.

Parameters
nav_stateThe current state of the navigation system.

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