FaultyLocalizer Class Reference

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

#include <FaultyLocalizer.hpp>

Inheritance diagram for FaultyLocalizer:

Collaboration diagram for FaultyLocalizer:

Public Member Functions
void	on_initialize () override
	Reads the parameters; throws on an unknown fault.
void	update (NavState &nav_state) override
	Nothing: everything happens in update_rt().
void	update_rt (NavState &nav_state) override
	Localizes or injects the fault.

Detailed Description

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

Every RT update writes "robot_pose" at a fixed pose ("<name>.x", "<name>.y", "<name>.yaw"), stamped now, and, after "<name>.fault_after" updates, injects the fault in "<name>.fault":

• "none": keeps localizing.
• "throw": throws from update_rt().
• "hang": blocks update_rt() for "<name>.hang_time" seconds on each update.
• "freeze": keeps writing the last pose, with its old stamp.
• "stop_publishing": stops writing "robot_pose".
• "nan": writes a NaN pose.
• "jump": the pose jumps "<name>.jump_distance" meters along x, once, and stays there.

Member Function Documentation

on_initialize()

void on_initialize ( )

override

Reads the parameters; throws on an unknown fault.

update()

void update ( NavState & nav_state )

override

Nothing: everything happens in update_rt().

update_rt()

void update_rt ( NavState & nav_state )

override

Localizes or injects the fault.

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

• easynav_localizer/include/easynav_localizer/fault_injection/FaultyLocalizer.hpp
• easynav_localizer/src/easynav_localizer/fault_injection/FaultyLocalizer.cpp