MPPIController Class Reference

A MPPI Controller. More...

#include <MPPIController.hpp>

Inheritance diagram for MPPIController:

Collaboration diagram for MPPIController:

Public Member Functions
	MPPIController ()
void	on_initialize () override
	Initializes parameters and MPPI controller.
void	update_rt (NavState &nav_state) override
	Updates the controller using the given NavState.
	~MPPIController () override
	Destructor.

Protected Member Functions
void	publish_mppi_markers (const std::vector< std::vector< std::pair< double, double > > > &all_trajs, const std::vector< std::pair< double, double > > &best_traj)
	Publishes MPPI markers for visualization.

Protected Attributes
double	dt_ {0.1}
	Time step for MPPI.
double	fov_ {M_PI / 2.0}
	Field of view for MPPI.
int	horizon_steps_ {10}
	Prediction horizon for MPPI.
double	lambda_ {0.1}
	Temperature parameter for MPPI.
double	max_ang_acc_ {1.0}
	Maximum angular acceleration for MPPI.
double	max_ang_vel_ {1.0}
	Maximum angular velocity for MPPI.
double	max_lin_acc_ {0.5}
	Maximum linear acceleration for MPPI.
double	max_lin_vel_ {1.0}
	Maximum linear velocity for MPPI.
rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	mppi_candidates_pub_
	Publisher for MPPI candidates markers.
rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	mppi_optimal_pub_
	Publisher for MPPI optimal path markers.
int	num_samples_ {100}
	Number of samples for MPPI.
std::unique_ptr< MPPIOptimizer >	optimizer_
	MPPI optimizer.
double	safety_radius_ {0.6}
	Safety radius for obstacle avoidance.
geometry_msgs::msg::TwistStamped	twist_stamped_
	Current velocity command.

Detailed Description

A MPPI Controller.

Constructor & Destructor Documentation

MPPIController()

MPPIController

(

)

~MPPIController()

~MPPIController ( )

overridedefault

Destructor.

Member Function Documentation

on_initialize()

void on_initialize ( )

override

Initializes parameters and MPPI controller.

Exceptions

std::runtime_error

if initialization fails.

publish_mppi_markers()

void publish_mppi_markers ( const std::vector< std::vector< std::pair< double, double > > > & all_trajs, const std::vector< std::pair< double, double > > & best_traj )

protected

Publishes MPPI markers for visualization.

Parameters

all_trajs	All trajectories generated by MPPI.
best_traj	Optimal trajectory generated by MPPI.

update_rt()

void update_rt ( NavState & nav_state )

override

Updates the controller using the given NavState.

Parameters

nav_state

Current navigation state, including odometry and planned path.

Member Data Documentation

dt_

double dt_ {0.1}

protected

Time step for MPPI.

fov_

double fov_ {M_PI / 2.0}

protected

Field of view for MPPI.

horizon_steps_

int horizon_steps_ {10}

protected

Prediction horizon for MPPI.

lambda_

double lambda_ {0.1}

protected

Temperature parameter for MPPI.

max_ang_acc_

double max_ang_acc_ {1.0}

protected

Maximum angular acceleration for MPPI.

max_ang_vel_

double max_ang_vel_ {1.0}

protected

Maximum angular velocity for MPPI.

max_lin_acc_

double max_lin_acc_ {0.5}

protected

Maximum linear acceleration for MPPI.

max_lin_vel_

double max_lin_vel_ {1.0}

protected

Maximum linear velocity for MPPI.

mppi_candidates_pub_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_candidates_pub_

protected

Publisher for MPPI candidates markers.

mppi_optimal_pub_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_optimal_pub_

protected

Publisher for MPPI optimal path markers.

num_samples_

int num_samples_ {100}

protected

Number of samples for MPPI.

optimizer_

std::unique_ptr<MPPIOptimizer> optimizer_

protected

MPPI optimizer.

safety_radius_

double safety_radius_ {0.6}

protected

Safety radius for obstacle avoidance.

twist_stamped_

geometry_msgs::msg::TwistStamped twist_stamped_

protected

Current velocity command.

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The documentation for this class was generated from the following files:

• controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIController.hpp
• controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp