[mppi_controller] Incorrect constraints in AckermannMotionModel

[alexbuyval]

I found that the current implementation of constraints for AckermannMotionModel has an incorrect condition here.

auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) > min_turning_r_);

so all generated trajectories collapse to circles (see the attached image).

The correct version should be the following:

auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_);

[SteveMacenski]

Good catch - can you submit the PR to resolve since you found the solution?

[alexbuyval]

Yes, I'll do

[SteveMacenski]

Thanks!