publish trajectory over a receding horizon
I added in maneuver the possibility to publish the trajectory over a receding horizon (sliding window) instead of only the next desired point.
You can find the code on redmine : https://redmine.laas.fr/projects/perceptive-nmpc/repository/maneuver-genom3
The new port 'horizon' publishes a sequence of rigid_body::state, which size is defined in a service 'set_horizon' called with a time horizon T and a number of samples N. The port is not published while set_horizon isn't called.
An IDS field field 'sampling' (jump between each elements of the trajectory to publish) is used in mv_exec_path to fill the port sequence. The last point is repeated to fill the sequence at the end of the trajectory.
I am not sure how to extend this to the 'velocity control mode' of maneuver since I didn't understood all the code of it so far.
Does it makes sense to include this feature in the openrobots version of maneuver?
Updated by Anthony Mallet 14 days ago
On Monday 16 Nov 2020, at 17:15, Martin Jacquet wrote:
I am not sure how to extend this to the 'velocity control mode' of
maneuver since I didn't understood all the code of it so far.
This is basically the same, except that the planner plans for the
velocity instead of the position (and the planner is 'fooled' by
passing it the velocity as the position, the acceleration as the
Does it makes sense to include this feature in the openrobots
version of maneuver?
Sure, it makes sense (and otherwise the components would diverge).
I can have a look to merge it, but not right right now.