gennav.controllers package

Submodules

gennav.controllers.base module

class gennav.controllers.base.Controller(init_state=None)

Bases: object

Base class for a controller.

Parameters:init_state (gennav.utils.RoboState) – Intial state of the robot.
robot_state

The state of the robot.

Type:gennav.utils.RoboState
compute_vel(traj)

Compute the velocity according to given trajectory.

Parameters:traj (gennav.utils.Trajectory) – Trajectory to compute velocity for.
Returns:The computed velocity.
Return type:gennav.utils.states.Velocity
set_state(state)

Set the state of the robot within the controller.

Parameters:state (gennav.utils.RoboState) – State to be checked
Returns:True if state is valid otherwise False
Return type:bool

Module contents