controller_server.FollowPath.ax_max = 3.0, controller_server.FollowPath.ax_min = -3.0, controller_server.FollowPath.ay_max = 3.0 and controller_server.FollowPath.az_max = 3.5.nav2_bringup/ (+4/−0).Full analysis → Summary: automatic analysis
None.
| Name | Value | Type | File |
|---|---|---|---|
controller_server.FollowPath.ax_max | 3.0 | number | nav2_bringup/params/nav2_params.yaml |
controller_server.FollowPath.ax_min | -3.0 | number | nav2_bringup/params/nav2_params.yaml |
controller_server.FollowPath.ay_max | 3.0 | number | nav2_bringup/params/nav2_params.yaml |
controller_server.FollowPath.az_max | 3.5 | number | nav2_bringup/params/nav2_params.yaml |
No post: no meaningful change.
| Module | Added | Modified | Removed | Lines + | Lines − |
|---|---|---|---|---|---|
nav2_bringup | 0 | 1 | 0 | +4 | −0 |
| Path | Lines | Note | |
|---|---|---|---|
| M | nav2_bringup/params/nav2_params.yaml | +4/−0 |
Add acceleration constraints in the MPPI controller (#4352) * Check dynamic feasibility while predicting velocities Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Added y and z axes constraints Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Improved predict function, added acceleration related constraints in ControlConstraints Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Reduced lookups in predict function Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Fixed lint errors Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Fixed linter and build error Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Fixed a bug in predict function Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Added hard acceleration constraints Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Fixed unit test to consider acceleration constraints Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Updated default parameters Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> * Updated test for the sign of constraint value Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com> --------- Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com>