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Support zero value for std_wz in mppi controller #5110

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Merged
SteveMacenski merged 2 commits into from
May 1, 2025
Merged

Support zero value for std_wz in mppi controller #5110

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255700a
Support zero value for std_wz in mppi controller
mini-1235 Apr 26, 2025
dbdcdd7
Update for better readability
mini-1235 May 1, 2025
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11 changes: 7 additions & 4 deletions nav2_mppi_controller/src/optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -438,13 +438,16 @@ void Optimizer::updateControlSequence()
auto & s = settings_;

auto vx_T = control_sequence_.vx.transpose();
auto wz_T = control_sequence_.wz.transpose();
auto bounded_noises_vx = state_.cvx.rowwise() - vx_T;
auto bounded_noises_wz = state_.cwz.rowwise() - wz_T;
const float gamma_vx = s.gamma / (s.sampling_std.vx * s.sampling_std.vx);
const float gamma_wz = s.gamma / (s.sampling_std.wz * s.sampling_std.wz);
costs_ += (gamma_vx * (bounded_noises_vx.rowwise() * vx_T).rowwise().sum()).eval();
costs_ += (gamma_wz * (bounded_noises_wz.rowwise() * wz_T).rowwise().sum()).eval();

if (s.sampling_std.wz > 0.0f) {
auto wz_T = control_sequence_.wz.transpose();
auto bounded_noises_wz = state_.cwz.rowwise() - wz_T;
const float gamma_wz = s.gamma / (s.sampling_std.wz * s.sampling_std.wz);
costs_ += (gamma_wz * (bounded_noises_wz.rowwise() * wz_T).rowwise().sum()).eval();
}

if (is_holo) {
auto vy_T = control_sequence_.vy.transpose();
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