Add max_vel_trans parameter #19
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To be merged after: #18 |
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Can you make this PR independent of the other? |
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@renan028 I have removed the acceleration constraint parts from this pr and it seems to be working fine. max_vel_trans.mp4 |
renan028
reviewed
Feb 21, 2025
| xt::view(state.cvy, xt::all(), xt::range(0, -1)); | ||
| const bool is_holo = isHolonomic(); | ||
| const double max_vel_trans = control_constraints_.max_vel_trans; | ||
| for (unsigned int i = 0; i != state.vx.shape(0); i++) { |
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Q: can't we do colum-major access as they do with eigen:
https://github.com/ros-navigation/navigation2/blob/main/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp#L83
?
(invert i with j)
nice! looks good |
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AB#48593