File Structure

This is how the controls subdirectory of is laid out.

File Structure of controls/src

Folder	File Name	Description
/	constants.hpp	Various CPU constants for controller, notably tuning parameters.
	cuda_constants.cuh	A few constants for CUDA code.
	types.hpp	Type definitions for CPU code, such as ROS messages.
nodes	controller.hpp	Definition of ControllerNode class, main ROS node.
	controller.cpp	Implementation of ControllerNode class. Main function that spins the node.
mppi	mppi.hpp	Definition of abstract class MppiController. ROS2 interface for MPPI.
	mppi.cuh	Definition of MppiController_Impl class, where MPPI is implemented.
	mppi.cu	Implementation of MppiController_Impl class.
	functors.cuh	Helper functors (C++ function objects) to be used in Thrust higher-order functions in MPPI.
	types.cuh	Definition of types used in MPPI.
state	state_estimator.hpp	Definition of abstract class StateEstimator. ROS2 interface for state estimation.
	state_estimator.cuh	Definition of StateEstimator_Impl class, where state estimation is implemented.
	state_estimator.cu	Implementation of StateEstimator_Impl class.
cuda_globals	cuda_globals.cuh	Symbols that exist in GPU global memory, namely inertial state and curvilinear lookup table.
	cuda_globals.cu	Initialization of read-only symbols, such as covariance matrix for MPPI’s Brownian generation.
	helpers.cuh	Helpers to work with the cuda_globals, specifically to utilize the lookup table.
model	slipless/model.cuh	Slipless dynamics model. Currently used by mppi and state.
	bicycle/model.cuh	Bicycle model that assumes wheel slip. Currently unused.
	dummy/model.cuh	Very basic dummy model to test MPPI. Currently unused.
	two_track/*	Complex and slow model. Currently unused.
utils	cuda_utils.cuh	Utilities for CUDA/Thrust code
	gl_utils.hpp	Declarations of utilities for OpenGL code.
	gl_utils.cpp	Implementation of gl_utils.hpp
display	display.hpp	Declaration of functions for the debugging display (built with -D)
	display.cpp	Implementation of display.hpp.

Namespaces

Namespaces roughly correspond to the file structure

nodes: Code concerning the overall controller ROS node.

mppi: Code concerning MPPI, including helper functors.

state: Code concerning state estimation.

model: Code concerning the dynamics model. Currently only the inner namespace slipless is used.

cuda_globals: Code concerning anything on GPU global memory. CUDA code only.

utils: Miscellaneous utilities.