From cd6dad8a2769306e4df8469b7d1ac7a3c09a5c22 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 22 Mar 2024 13:17:24 -0700 Subject: [PATCH] updating docs for mppi_opt (#533) * updating docs for mppi_opt * adding to migration guide --- configuration/packages/configuring-mppic.rst | 25 +++++++++++++++++++- migration/Iron.rst | 5 ++++ 2 files changed, 29 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-mppic.rst b/configuration/packages/configuring-mppic.rst index 7eb4d9cca..6af972eba 100644 --- a/configuration/packages/configuring-mppic.rst +++ b/configuration/packages/configuring-mppic.rst @@ -650,6 +650,16 @@ This critic incentivizes navigating away from obstacles and critical collisions Description Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use. +:trajectory_point_step: + + ============== =========================== + Type Default + -------------- --------------------------- + int 2 + ============== =========================== + + Description + The step to take in trajectories for evaluating them in the critic. Since trajectories are extremely dense, its unnecessary to evaluate each point and computationally expensive. Path Align Critic ----------------- @@ -722,6 +732,18 @@ This critic incentivizes aligning with the global path, if relevant. It does not Description Whether to consider path's orientations in path alignment, which can be useful when paired with feasible smac planners to incentivize directional changes only where/when the smac planner requests them. If you want the robot to deviate and invert directions where the controller sees fit, keep as false. If your plans do not contain orientation information (e.g. navfn), keep as false. +:trajectory_point_step: + + ============== =========================== + Type Default + -------------- --------------------------- + int 4 + ============== =========================== + + Description + The step to take in trajectories for evaluating them in the critic. Since trajectories are extremely dense, its unnecessary to evaluate each point and computationally expensive. + + Path Angle Critic ----------------- @@ -980,12 +1002,13 @@ Example consider_footprint: true collision_cost: 1000000.0 near_goal_distance: 1.0 + trajectory_point_step: 2 PathAlignCritic: enabled: true cost_power: 1 cost_weight: 14.0 max_path_occupancy_ratio: 0.05 - trajectory_point_step: 3 + trajectory_point_step: 4 threshold_to_consider: 0.5 offset_from_furthest: 20 use_path_orientations: false diff --git a/migration/Iron.rst b/migration/Iron.rst index 64ab13870..627271840 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -98,6 +98,11 @@ Analog to the ``ObstacleCritic``, the ``CostCritic`` is another obstacle avoidin This critic uses the inflated costs in the costmap to score rather than distance to obstacles as the ``ObstaclesCritic`` does. See the configuration guide for more information. +MPPI Acceleration +***************** + +New to Jazzy, MPPI is 45% faster due to a weeks long optimization campaign. Enjoy! + Move Error Code Enumerations ****************************