Class VffController

Inheritance Relationships

Base Type

  • public easynav::ControllerMethodBase

Class Documentation

class VffController : public easynav::ControllerMethodBase

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.

Public Functions

VffController() = default

Default constructor.

~VffController() = default

Default destructor.

virtual void 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.

Throws:

std::runtime_error – on initialization error.

virtual void update_rt(NavState &nav_state) override

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.