FaultyController Class Reference

Controller that misbehaves on purpose, to test how EasyNav copes with it. More...

#include <FaultyController.hpp>

Inheritance diagram for FaultyController:

Collaboration diagram for FaultyController:

Public Member Functions
void	on_initialize () override
	Reads the parameters; throws on an unknown fault.
void	update_rt (NavState &nav_state) override
	Commands the constant velocity or injects the fault.

Detailed Description

Controller that misbehaves on purpose, to test how EasyNav copes with it.

Commands a constant velocity ("<name>.linear_vel", "<name>.angular_vel") and, after "<name>.fault_after" updates, injects the fault in "<name>.fault":

• "none": keeps commanding the constant velocity.
• "throw": throws from update_rt().
• "hang": blocks update_rt() for "<name>.hang_time" seconds on each update.
• "stop_proposing": stops writing "cmd_vel".
• "freeze": keeps writing the last command, with its old stamp.
• "max_velocity": commands a huge velocity.
• "nan": commands NaN.

Member Function Documentation

on_initialize()

void on_initialize ( )

override

Reads the parameters; throws on an unknown fault.

update_rt()

void update_rt ( NavState & nav_state )

override

Commands the constant velocity or injects the fault.

---

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

• easynav_controller/include/easynav_controller/fault_injection/FaultyController.hpp
• easynav_controller/src/easynav_controller/fault_injection/FaultyController.cpp