Generates noise trajectories from optimal trajectory. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp>

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Public Member Functions
	NoiseGenerator ()=default
	Constructor for mppi::NoiseGenerator.

void	initialize (mppi::models::OptimizerSettings &settings, bool is_holonomic, const std::string &name, ParametersHandler *param_handler)
	Initialize noise generator with settings and model types. More...

void	shutdown ()
	Shutdown noise generator thread.

void	generateNextNoises ()
	Signal to the noise thread the controller is ready to generate a new noised control for the next iteration.

void	setNoisedControls (models::State &state, const models::ControlSequence &control_sequence)
	set noised control_sequence to state controls More...

void	reset (mppi::models::OptimizerSettings &settings, bool is_holonomic)
	Reset noise generator with settings and model types. More...

Protected Member Functions
void	noiseThread ()
	Thread to execute noise generation process.

void	generateNoisedControls ()
	Generate random controls by gaussian noise with mean in control_sequence_. More...

Protected Attributes
xt::xtensor< float, 2 >	noises_vx_

xt::xtensor< float, 2 >	noises_vy_

xt::xtensor< float, 2 >	noises_wz_

mppi::models::OptimizerSettings	settings_

bool	is_holonomic_

std::thread	noise_thread_

std::condition_variable	noise_cond_

std::mutex	noise_lock_

bool	active_ {false}

bool	ready_ {false}

bool	regenerate_noises_ {false}

Detailed Description

Generates noise trajectories from optimal trajectory.

Definition at line 44 of file noise_generator.hpp.

Member Function Documentation

◆ generateNoisedControls()

void mppi::NoiseGenerator::generateNoisedControls ( )

protected

Generate random controls by gaussian noise with mean in control_sequence_.

Returns: tensor of shape [ batch_size_, time_steps_, 2] where 2 stands for v, w

Definition at line 107 of file noise_generator.cpp.

Referenced by initialize(), noiseThread(), and reset().

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◆ initialize()

void mppi::NoiseGenerator::initialize	(	mppi::models::OptimizerSettings &	settings,
		bool	is_holonomic,
		const std::string &	name,
		ParametersHandler *	param_handler
	)

Initialize noise generator with settings and model types.

Parameters

settings	Settings of controller
is_holonomic	If base is holonomic
name	Namespace for configs
param_handler	Get parameters util

Definition at line 26 of file noise_generator.cpp.

References generateNoisedControls(), mppi::ParametersHandler::getParamGetter(), and noiseThread().

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◆ reset()

void mppi::NoiseGenerator::reset	(	mppi::models::OptimizerSettings &	settings,
		bool	is_holonomic
	)

Reset noise generator with settings and model types.

Parameters

settings	Settings of controller
is_holonomic	If base is holonomic

Definition at line 76 of file noise_generator.cpp.

References generateNoisedControls().

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◆ setNoisedControls()

void mppi::NoiseGenerator::setNoisedControls	(	models::State &	state,
		const models::ControlSequence &	control_sequence
	)

set noised control_sequence to state controls

Returns: noises vx, vy, wz

Definition at line 65 of file noise_generator.cpp.

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

nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp
nav2_mppi_controller/src/noise_generator.cpp

Public Member Functions