Program Listing for File state.hpp
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// 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_
#include <xtensor/xtensor.hpp>
#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_