optimizer_settings.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__OPTIMIZER_SETTINGS_HPP_
#define NAV2_MPPI_CONTROLLER__MODELS__OPTIMIZER_SETTINGS_HPP_
 
#include <cstddef>
#include "nav2_mppi_controller/models/constraints.hpp"
 
namespace mppi::models
{
 
struct OptimizerSettings
{
  models::ControlConstraints base_constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
  models::ControlConstraints constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
  models::SamplingStd sampling_std{0.0f, 0.0f, 0.0f};
  float model_dt{0.0f};
  float model_delay_vx{0.0f};
  float model_delay_vy{0.0f};
  float model_delay_wz{0.0f};
  bool clamp_raw_controls{false};
  float controller_period{0.0f};
  float temperature{0.0f};
  float gamma{0.0f};
  unsigned int batch_size{0u};
  unsigned int time_steps{0u};
  unsigned int iteration_count{0u};
  bool shift_control_sequence{false};
  size_t retry_attempt_limit{0};
  bool open_loop{false};
  unsigned int sgf_order{2u};
};
 
}  // namespace mppi::models
 
#endif  // NAV2_MPPI_CONTROLLER__MODELS__OPTIMIZER_SETTINGS_HPP_