Class DummyController

• Defined in File DummyController.hpp

Inheritance Relationships

Base Type

• public easynav::ControllerMethodBase

Class Documentation

class DummyController : public easynav::ControllerMethodBase

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.

Public Functions

DummyController() = default

~DummyController() = default

virtual std::expected<void, std::string> on_initialize() override

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.

virtual void update_rt(NavState &nav_state) override

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_state – The current state of the navigation system.