state.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_
#define NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_
 
// xtensor creates warnings that needs to be ignored as we are building with -Werror
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
#pragma GCC diagnostic ignored "-Wstringop-overflow"
#include <xtensor/xtensor.hpp>
#pragma GCC diagnostic pop
 
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
 
namespace mppi::models
{
 
struct State
{
  xt::xtensor<float, 2> vx;
  xt::xtensor<float, 2> vy;
  xt::xtensor<float, 2> wz;
 
  xt::xtensor<float, 2> cvx;
  xt::xtensor<float, 2> cvy;
  xt::xtensor<float, 2> cwz;
 
  geometry_msgs::msg::PoseStamped pose;
  geometry_msgs::msg::Twist speed;
 
  void reset(unsigned int batch_size, unsigned int time_steps)
  {
    vx = xt::zeros<float>({batch_size, time_steps});
    vy = xt::zeros<float>({batch_size, time_steps});
    wz = xt::zeros<float>({batch_size, time_steps});
 
    cvx = xt::zeros<float>({batch_size, time_steps});
    cvy = xt::zeros<float>({batch_size, time_steps});
    cwz = xt::zeros<float>({batch_size, time_steps});
  }
};
}  // namespace mppi::models
 
#endif  // NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_