Public Member Functions
MPPIResult	compute_control (const geometry_msgs::msg::Pose &current_pose, const nav_msgs::msg::Path &path, const pcl::PointCloud< pcl::PointXYZ > &points)
	Computes the control commands using MPPI optimization.
	MPPIOptimizer (double num_samples, double horizon_steps, double dt, double lambda, double max_lin_vel=1.0, double max_ang_vel=1.0, double max_lin_acc=1.0, double max_ang_acc=1.0, double fov=M_PI/2.0, double safety_radius=0.6)
	Constructor for MPPIOptimizer.

Constructor & Destructor Documentation

◆ MPPIOptimizer()

Constructor for MPPIOptimizer.

Parameters

num_samples	Number of samples to generate for MPPI.
horizon_steps	Number of steps in the prediction horizon.
dt	Time step for the simulation.
lambda	Temperature parameter for MPPI.
max_lin_vel	Maximum linear velocity in m/s.
max_ang_vel	Maximum angular velocity in rad/s.
max_lin_acc	Maximum linear acceleration in m/s^2.
max_ang_acc	Maximum angular acceleration in rad/s^2.
fov	Field of view in radians for trajectory sampling.
safety_radius	Safety radius for obstacle avoidance in meters.

MPPIResult compute_control	(	const geometry_msgs::msg::Pose &	current_pose,
		const nav_msgs::msg::Path &	path,
		const pcl::PointCloud< pcl::PointXYZ > &	points )

Computes the control commands using MPPI optimization.

Parameters

current_pose	Current pose of the robot.
path	Planned path to follow.
points	Point cloud of the environment.

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

controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp
controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIOptimizer.cpp