C++ API

Class Hierarchy

• • Namespace mppi
    • Namespace mppi::critics
      • Class CollisionCost
      • Class ConstraintCritic
      • Class CostCritic
      • Class CriticFunction
      • Class GoalAngleCritic
      • Class GoalCritic
      • Class ObstaclesCritic
      • Class PathAlignCritic
      • Class PathAngleCritic
      • Class PathFollowCritic
      • Class PreferForwardCritic
      • Class TwirlingCritic
      • Class VelocityDeadbandCritic
      • Enum PathAngleMode
    • Namespace mppi::models
      • Struct Control
      • Struct ControlConstraints
      • Struct ControlSequence
      • Struct OptimizerSettings
      • Struct Path
      • Struct SamplingStd
      • Struct State
      • Class Trajectories
    • Namespace mppi::utils
      • Struct Pose2D
    • Struct CriticData
    • Class AckermannMotionModel
    • Class CriticManager
    • Class DiffDriveMotionModel
    • Class MotionModel
    • Class MPPIController
    • Class NoiseGenerator
    • Class OmniMotionModel
    • Class Optimizer
    • Class ParametersHandler
    • Class PathHandler
    • Class TrajectoryVisualizer
    • Enum ParameterType
  • Namespace nav2_mppi_controller
    • Class MPPIController
  • Class Parameter

File Hierarchy

• • Directory include
    • Directory nav2_mppi_controller
      • Directory critics
        • File constraint_critic.hpp
        • File cost_critic.hpp
        • File goal_angle_critic.hpp
        • File goal_critic.hpp
        • File obstacles_critic.hpp
        • File path_align_critic.hpp
        • File path_angle_critic.hpp
        • File path_follow_critic.hpp
        • File prefer_forward_critic.hpp
        • File twirling_critic.hpp
        • File velocity_deadband_critic.hpp
      • Directory models
        • File constraints.hpp
        • File control_sequence.hpp
        • File optimizer_settings.hpp
        • File path.hpp
        • File state.hpp
        • File trajectories.hpp
      • Directory tools
        • File noise_generator.hpp
        • File parameters_handler.hpp
        • File path_handler.hpp
        • File trajectory_visualizer.hpp
        • File utils.hpp
      • File controller.hpp
      • File critic_data.hpp
      • File critic_function.hpp
      • File critic_manager.hpp
      • File motion_models.hpp
      • File optimizer.hpp

Full C++ API

Namespaces

• Namespace mppi

• Namespace mppi::critics

• Namespace mppi::models

• Namespace mppi::utils

• Namespace nav2_mppi_controller

Classes and Structs

• Struct CriticData

• Struct Control

• Struct ControlConstraints

• Struct ControlSequence

• Struct OptimizerSettings

• Struct Path

• Struct SamplingStd

• Struct State

• Struct Pose2D

• Class AckermannMotionModel

• Class CriticManager

• Class CollisionCost

• Class ConstraintCritic

• Class CostCritic

• Class CriticFunction

• Class GoalAngleCritic

• Class GoalCritic

• Class ObstaclesCritic

• Class PathAlignCritic

• Class PathAngleCritic

• Class PathFollowCritic

• Class PreferForwardCritic

• Class TwirlingCritic

• Class VelocityDeadbandCritic

• Class DiffDriveMotionModel

• Class Trajectories

• Class MotionModel

• Class MPPIController

• Class NoiseGenerator

• Class OmniMotionModel

• Class Optimizer

• Class ParametersHandler

• Class PathHandler

• Class TrajectoryVisualizer

• Class MPPIController

• Class Parameter

Enums

• Enum PathAngleMode

• Enum ParameterType

Functions

• Function mppi::critics::modeToStr

• Function mppi::utils::createColor

• Function mppi::utils::createMarker

• Function mppi::utils::createPose

• Function mppi::utils::createScale

• Function mppi::utils::findClosestPathPt

• Function mppi::utils::findFirstPathInversion

• Function mppi::utils::findPathCosts

• Function mppi::utils::findPathFurthestReachedPoint

• Template Function mppi::utils::normalize_angles

• Function mppi::utils::posePointAngle(const geometry_msgs::msg::Pose&, double, double, bool)

• Function mppi::utils::posePointAngle(const geometry_msgs::msg::Pose&, double, double, double)

• Function mppi::utils::removePosesAfterFirstInversion

• Function mppi::utils::savitskyGolayFilter

• Function mppi::utils::setPathCostsIfNotSet

• Function mppi::utils::setPathFurthestPointIfNotSet

• Template Function mppi::utils::shortest_angular_distance

• Function mppi::utils::toTensor

• Function mppi::utils::toTwistStamped(float, float, const builtin_interfaces::msg::Time&, const std::string&)

• Function mppi::utils::toTwistStamped(float, float, float, const builtin_interfaces::msg::Time&, const std::string&)

• Function mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *, const geometry_msgs::msg::Pose&, const models::Path&)

• Function mppi::utils::withinPositionGoalTolerance(float, const geometry_msgs::msg::Pose&, const models::Path&)

Defines

• Define M_PIF

• Define M_PIF_2

Typedefs

• Typedef mppi::PathIterator

• Typedef mppi::PathRange

Directories

• Directory include

• Directory nav2_mppi_controller

• Directory critics

• Directory models

• Directory tools

Files

• File constraint_critic.hpp

• File constraints.hpp

• File control_sequence.hpp

• File controller.hpp

• File cost_critic.hpp

• File critic_data.hpp

• File critic_function.hpp

• File critic_manager.hpp

• File goal_angle_critic.hpp

• File goal_critic.hpp

• File motion_models.hpp

• File noise_generator.hpp

• File obstacles_critic.hpp

• File optimizer.hpp

• File optimizer_settings.hpp

• File parameters_handler.hpp

• File path.hpp

• File path_align_critic.hpp

• File path_angle_critic.hpp

• File path_follow_critic.hpp

• File path_handler.hpp

• File prefer_forward_critic.hpp

• File state.hpp

• File trajectories.hpp

• File trajectory_visualizer.hpp

• File twirling_critic.hpp

• File utils.hpp

• File velocity_deadband_critic.hpp