MPPIResult Struct Reference

Result structure for MPPI optimization containing control commands and trajectories. More...

#include <MPPIOptimizer.hpp>

Collaboration diagram for MPPIResult:

Public Attributes
std::vector< std::vector< std::pair< double, double > > >	all_trajectories
	All sampled trajectories.
std::vector< std::pair< double, double > >	best_trajectory
	Best trajectory found during optimization.
double	v
	Linear velocity command.
double	w
	Angular velocity command.

Detailed Description

Result structure for MPPI optimization containing control commands and trajectories.

Member Data Documentation

all_trajectories

std::vector<std::vector<std::pair<double, double> > > all_trajectories

All sampled trajectories.

best_trajectory

std::vector<std::pair<double, double> > best_trajectory

Best trajectory found during optimization.

v

double v

Linear velocity command.

w

double w

Angular velocity command.

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The documentation for this struct was generated from the following file:

• controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp