Function mppi::utils::savitskyGolayFilter

Function Documentation

inline void mppi::utils::savitskyGolayFilter(models::ControlSequence &control_sequence, std::array<mppi::models::Control, 4> &control_history, const models::OptimizerSettings &settings)

Apply Savisky-Golay filter to optimal trajectory.

Parameters:

  • control_sequence – Sequence to apply filter to

  • control_history – Recent set of controls for edge-case handling

  • Settings – Settings to use