Class mppi::MppiController

class MppiController

MPPI Controller! In a nutshell, given:

• current inertial state in cuda_globals::curr_state

• a curvilinear lookup table in cuda_globals::curv_frame_lookup_tex

• an existing control action trajectory from the previous run of MPPI

it calculates the optimal control action to minimize a cost function.

Implementation is in MppiController_Impl.

Refer to the explainer for a more detailed overview.

Subclassed by controls::mppi::MppiController_Impl

Public Static Functions

static std::shared_ptr<MppiController> create(std::mutex &mutex, LoggerFunc logger = no_log)

Essentially serves as a named constructor that grants ownership of a MPPIController to the caller. This is necessary because MPPIController is an abstract base class (a pointer is needed)

Parameters:

• mutex – [in] Reference to the mutex that mppi will use

• logger – [in] Function object of logger (string to void)

Returns:

Pointer to the created MPPIController