Skip to content

Add docs for Velocity Deadband Critic #546

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 2 commits into from
Apr 12, 2024
Merged

Add docs for Velocity Deadband Critic #546

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4a71987
Add docs for Velocity Deadband Critic
perchess Apr 11, 2024
c58fb44
comment out velocity deadband critic from default param list
perchess Apr 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
45 changes: 44 additions & 1 deletion configuration/packages/configuring-mppic.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -930,6 +930,44 @@ This critic penalizes unnecessary 'twisting' with holonomic vehicles. It adds a
Description
Power order to apply to term.

Velocity Deadband Critic
------------------------

This critic penalizes velocities that fall below the deadband threshold, helping to mitigate hardware limitations on certain platforms.

:cost_weight:

=============== ===========================
Type Default
--------------- ---------------------------
double 100.0
Comment thread
perchess marked this conversation as resolved.
Outdated
=============== ===========================

Description
Weight to apply to critic term.

:cost_power:

=============== ===========================
Type Default
--------------- ---------------------------
int 1
=============== ===========================

Description
Power order to apply to term.

:deadband_velocities:

=============== ===========================
Type Default
--------------- ---------------------------
array of double [0.0, 0.0, 0.0]
=============== ===========================

Description
The array of deadband velocities [vx, vz, wz]. A zero array indicates that the critic will take no action.

Example
*******
.. code-block:: yaml
Expand Down Expand Up @@ -963,7 +1001,7 @@ Example
time_step: 3
AckermannConstraints:
min_turning_r: 0.2
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic", "VelocityDeadbandCritic"]
Comment thread
perchess marked this conversation as resolved.
Outdated
ConstraintCritic:
enabled: true
cost_power: 1
Expand Down Expand Up @@ -1026,6 +1064,11 @@ Example
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
VelocityDeadbandCritic:
Comment thread
perchess marked this conversation as resolved.
Outdated
enabled: false
cost_power: 1
cost_weight: 100.0
deadband_velocities: [0.08, 0.08, 0.08]
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
Expand Down