File cuda_globals.cuh
Virtual because it should be called through its child (implementation) object rather than directly.
- return:
The optimal action calculated by MPPI given sensor information
- return:
The optimal action calculated by MPPI given state and spline information.
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namespace controls
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namespace cuda_globals
Variables
- __constant__ cudaTextureObject_t curv_frame_lookup_tex
this is a pointer to the CUDA texture
- __constant__ CurvFrameLookupTexInfo curv_frame_lookup_tex_info
before sampling into texture, need to apply the same transformation to world pose
- __constant__ float curr_state [state_dims]
State information is stored here. Written to by state_estimator and read by mppi_controller.
\(x_0\)
- __constant__ const float perturbs_incr_std [action_dims *action_dims]
Cholesky factor of covariance matrix (assuming swangle and throttle are uncorrelated)
- __constant__ const float perturbs_incr_var_inv [action_dims *action_dims]
Inverse of covariance matrix.
- __constant__ const float action_min [action_dims]
Minimum control action request.
- __constant__ const float action_max [action_dims]
Maximum control action request.
- __constant__ const float action_deriv_min [action_dims]
Minimum perturbation to control action.
- __constant__ const float action_deriv_max [action_dims]
Maximum perturbation to control action.
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struct CurvFrameLookupTexInfo
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namespace cuda_globals