Support zero value for std_wz in mppi controller #5110
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Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
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SteveMacenski
requested changes
Apr 28, 2025
| costs_ += (gamma_vx * (bounded_noises_vx.rowwise() * vx_T).rowwise().sum()).eval(); | ||
| costs_ += (gamma_wz * (bounded_noises_wz.rowwise() * wz_T).rowwise().sum()).eval(); | ||
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| if(s.sampling_std.wz) { |
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Suggested change
| if(s.sampling_std.wz) { | |
| if (s.sampling_std.wz > 0.0f) { |
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Yes, I achieved better results after applying this fix and some additional tuning. Thanks for the guidance! |
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Basic Info
Description of testing performed
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As described in the issue, this PR protects from the NaN values
Description of documentation updates required from your changes
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