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

#include <VffController.hpp>

Inheritance diagram for VffController:

Collaboration diagram for VffController:

Public Member Functions
virtual void	on_initialize () override
	Initializes the control method plugin.
virtual void	update_rt (NavState &nav_state) override
	Updates the localization estimate based on the current navigation state.
	VffController ()=default
	Default constructor.
	~VffController ()=default
	Default destructor.

Detailed Description

A default "Vff" 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

◆ VffController()

VffController ( )

default

Default constructor.

◆ ~VffController()

~VffController ( )

default

Default destructor.

Member Function Documentation

◆ on_initialize()

void 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.

Exceptions

std::runtime_error on initialization error.

◆ update_rt()

void update_rt ( NavState & nav_state )

overridevirtual

Updates the localization estimate based on the current navigation state.

This method is intended to run the localization logic and update the odometry. In this implementation, use the VFF algorithm to compute the control command.

Parameters

nav_state The current navigation state of the system.

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

controllers/easynav_vff_controller/include/easynav_vff_controller/VffController.hpp
controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp