Struct MPPIResult

Defined in File MPPIOptimizer.hpp

Struct Documentation

struct MPPIResult

Result structure for MPPI optimization containing control commands and trajectories.

Public Members

double v: Linear velocity command.

double w: Angular velocity command.

std::vector<std::vector<std::pair<double, double>>> all_trajectories: All sampled trajectories.

std::vector<std::pair<double, double>> best_trajectory: Best trajectory found during optimization.