mppi::NoiseGenerator Class Reference

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
Eigen::ArrayXXf	noises_vx_
Eigen::ArrayXXf	noises_vy_
Eigen::ArrayXXf	noises_wz_
std::default_random_engine	generator_
std::normal_distribution< float >	ndistribution_vx_
std::normal_distribution< float >	ndistribution_wz_
std::normal_distribution< float >	ndistribution_vy_
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 39 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 108 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 23 of file noise_generator.cpp.

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

Referenced by mppi::Optimizer::initialize().

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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 77 of file noise_generator.cpp.

References generateNoisedControls().

Referenced by mppi::Optimizer::reset().

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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 66 of file noise_generator.cpp.

Referenced by mppi::Optimizer::generateNoisedTrajectories().

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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