FaultyPlanner Class Reference

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

#include <FaultyPlanner.hpp>

Inheritance diagram for FaultyPlanner:

Collaboration diagram for FaultyPlanner:

Public Member Functions
void	on_initialize () override
	Reads the parameters; throws on an unknown fault.
void	update (NavState &nav_state) override
	Plans or injects the fault.

Detailed Description

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

Every update writes "path": a straight line from "robot_pose" to the first goal in "goals" (empty without them), and, after "<name>.fault_after" updates, injects the fault in "<name>.fault":

• "none": keeps planning.
• "throw": throws from update().
• "hang": blocks update() for "<name>.hang_time" seconds on each update.
• "empty_path": writes a path with no poses.
• "freeze": keeps writing the last path, with its old stamp.
• "nan": writes a path of NaN poses.

Member Function Documentation

on_initialize()

void on_initialize ( )

override

Reads the parameters; throws on an unknown fault.

update()

void update ( NavState & nav_state )

override

Plans or injects the fault.

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

• easynav_planner/include/easynav_planner/fault_injection/FaultyPlanner.hpp
• easynav_planner/src/easynav_planner/fault_injection/FaultyPlanner.cpp