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 # File i\_vehicle\_controller.h

 Last update: 22.04.2026 

![](https://img.shields.io/badge/language-C%2B%2B-blue "C++")

**Location**: `autonomy/simulation/utilities/vehicle_controller/i_vehicle_controller.h`

## Classes

- [simulation\_framework::utilities::vehicle::controller::VehicleControllerInput](structsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1VehicleControllerInput.md#structsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1VehicleControllerInput)
- [simulation\_framework::utilities::vehicle::controller::VehicleControllerReference](structsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1VehicleControllerReference.md#structsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1VehicleControllerReference)
- [simulation\_framework::utilities::vehicle::controller::IVehicleController](classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController)

## Namespaces

- [simulation\_framework](namespacesimulation__framework.md#namespacesimulation__framework)
- [simulation\_framework::utilities](namespacesimulation__framework_1_1utilities.md#namespacesimulation__framework_1_1utilities)
- [simulation\_framework::utilities::vehicle](namespacesimulation__framework_1_1utilities_1_1vehicle.md#namespacesimulation__framework_1_1utilities_1_1vehicle)
- [simulation\_framework::utilities::vehicle::controller](namespacesimulation__framework_1_1utilities_1_1vehicle_1_1controller.md#namespacesimulation__framework_1_1utilities_1_1vehicle_1_1controller)

## Includes

- [autonomy/simulation/utilities/vehicle\_state/vehicle\_state.h](vehicle__state_8h.md#vehicle__state_8h)
- 

## Included by

- [i\_vehicle.h](i__vehicle_8h.md#i__vehicle_8h)
- [vehicle\_controller\_factory.h](vehicle__controller__factory_8h.md#vehicle__controller__factory_8h)

## Source

```cpp


#ifndef AUTONOMY_SIMULATION_UTILITIES_VEHICLECONTROLLER_IVEHICLE_CONTROLLER_H
#define AUTONOMY_SIMULATION_UTILITIES_VEHICLECONTROLLER_IVEHICLE_CONTROLLER_H

#include "autonomy/simulation/utilities/vehicle_state/vehicle_state.h"
#include <memory>
namespace simulation_framework
{
namespace utilities
{
namespace vehicle
{
namespace controller
{
struct VehicleControllerInput
{
    std::shared_ptr<void> input{};
};

struct VehicleControllerReference
{
    std::shared_ptr<void> reference{};
};

class IVehicleController
{
  public:
    virtual ~IVehicleController() = default;

    virtual vehicle::state::ControlInput Evaluate(const VehicleControllerInput& current,
                                                  const VehicleControllerReference& reference) const = 0;
};

}  // namespace controller
}  // namespace vehicle
}  // namespace utilities

}  // namespace simulation_framework

#endif  // AUTONOMY_SIMULATION_UTILITIES_VEHICLECONTROLLER_IVEHICLE_CONTROLLER_H

```