defined update method

ShisatoYano · Jan 15, 2025 · eda8062 · eda8062
1 parent 18c0883
commit eda8062
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/src/components/control/lqr/lqr_controller.py b/src/components/control/lqr/lqr_controller.py
@@ -51,6 +51,15 @@ def __init__(self, spec, course=None):
 
         self.spd_prf = TrapezoidalSpeedProfile(max_spd_mps, self.MAX_ACCEL_MPS2, distance_m)
 
+    def update(self, state, time_s):
+        """
+        Function to update data for path tracking
+        state: Vehicle's state object
+        time_s: Simulation interval time[sec]
+        """
+
+        if not self.course: return
+
     def draw(self, axes, elems):
         """
         Function to draw target point on course