MPPIController.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_
#define EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_
 
#include <memory>
#include <string>
 
#include "geometry_msgs/msg/twist_stamped.hpp"
 
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_common/types/NavState.hpp"
 
#include "easynav_mppi_controller/MPPIOptimizer.hpp"
 
#include "visualization_msgs/msg/marker_array.hpp"
 
namespace easynav
{

class MPPIController : public ControllerMethodBase
{
public:
  MPPIController();

  ~MPPIController() override;

  void on_initialize() override;

  void update_rt(NavState & nav_state) override;
 
protected:
  int num_samples_{100};      
  int horizon_steps_{10};     
  double dt_{0.1};            
  double lambda_{0.1};        
  double max_lin_vel_{1.0};   
  double max_ang_vel_{1.0};   
  double max_lin_acc_{0.5};   
  double max_ang_acc_{1.0};   
  double fov_{M_PI / 2.0};    
  double safety_radius_{0.6}; 
 
  geometry_msgs::msg::TwistStamped twist_stamped_;  
 
  std::unique_ptr<MPPIOptimizer> optimizer_;  
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_candidates_pub_; 
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_optimal_pub_;    

  void publish_mppi_markers(
    const std::vector<std::vector<std::pair<double, double>>> & all_trajs,
    const std::vector<std::pair<double, double>> & best_traj);
 
};
 
}  // namespace easynav
 
#endif  // EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_