.. _file_include_nav2_mppi_controller_controller.hpp:

File controller.hpp
===================

|exhale_lsh| :ref:`Parent directory <dir_include_nav2_mppi_controller>` (``include/nav2_mppi_controller``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/nav2_mppi_controller/controller.hpp``)
------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_nav2_mppi_controller_controller.hpp.rst





Includes
--------


- ``memory``

- ``nav2_core/controller.hpp``

- ``nav2_core/goal_checker.hpp``

- ``nav2_mppi_controller/models/constraints.hpp`` (:ref:`file_include_nav2_mppi_controller_models_constraints.hpp`)

- ``nav2_mppi_controller/optimizer.hpp`` (:ref:`file_include_nav2_mppi_controller_optimizer.hpp`)

- ``nav2_mppi_controller/tools/path_handler.hpp`` (:ref:`file_include_nav2_mppi_controller_tools_path_handler.hpp`)

- ``nav2_mppi_controller/tools/trajectory_visualizer.hpp`` (:ref:`file_include_nav2_mppi_controller_tools_trajectory_visualizer.hpp`)

- ``nav2_mppi_controller/tools/utils.hpp`` (:ref:`file_include_nav2_mppi_controller_tools_utils.hpp`)

- ``rclcpp/rclcpp.hpp``

- ``string``






Namespaces
----------


- :ref:`namespace_nav2_mppi_controller`


Classes
-------


- :ref:`exhale_class_classmppi_1_1MPPIController`

- :ref:`exhale_class_classnav2__mppi__controller_1_1MPPIController`