nav2_mppi_controller
C++ API
Class Hierarchy
File Hierarchy
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
Class AckermannMotionModel
Class CriticManager
Class CollisionCost
Class ConstraintCritic
Class CostCritic
Class CriticFunction
Class GoalAngleCritic
Class GoalCritic
Class ObstaclesCritic
Class PathAlignCritic
Class PathAlignLegacyCritic
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 ParameterType
Functions
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
Function mppi::utils::findPathTrajectoryInitialPoint
Template Function mppi::utils::normalize_angles
Function mppi::utils::posePointAngle
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&)
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_align_legacy_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
Standard Documents
LICENSE
PACKAGE
README
Model Predictive Path Integral Controller
Overview
MPPI Description
Features
Configuration
Topics
Notes to Users
Index
nav2_mppi_controller
C++ API
Function mppi::utils::findPathCosts
View page source
Function mppi::utils::findPathCosts
Defined in
File utils.hpp
Function Documentation
inline
void
mppi
::
utils
::
findPathCosts
(
CriticData
&
data
,
std
::
shared_ptr
<
nav2_costmap_2d
::
Costmap2DROS
>
costmap_ros
)
evaluate path costs
Parameters
:
data
– Data to use