Project

General

Profile

Bug #285

publish trajectory over a receding horizon

Added by Martin Jacquet 2 months ago. Updated 11 days ago.

Status:
Closed
Priority:
Normal
Assignee:
-

Description

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

Basically:
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?

Also available in: Atom PDF