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Fix the condition in ackerman motion model constraints #3581

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merged 3 commits into from
May 22, 2023
Merged

Fix the condition in ackerman motion model constraints #3581

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76219e0
Fix the condition in ackerman motion model constraints
alexbuyval May 19, 2023
efd8352
Fix ackerman motion model tests
alexbuyval May 19, 2023
02ca21d
Fix another ackerman motion model test
alexbuyval May 22, 2023
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2 changes: 1 addition & 1 deletion nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@ class AckermannMotionModel : public MotionModel
auto & vx = control_sequence.vx;
auto & wz = control_sequence.wz;

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

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2 changes: 1 addition & 1 deletion nav2_mppi_controller/test/motion_model_tests.cpp
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Expand Up @@ -168,7 +168,7 @@ TEST(MotionModelTests, AckermannTest)
// Now, check the specifics of the minimum curvature constraint
EXPECT_NEAR(model->getMinTurningRadius(), 0.2, 1e-6);
for (unsigned int i = 1; i != control_sequence.vx.shape(0); i++) {
EXPECT_TRUE(fabs(control_sequence.vx(i)) / fabs(control_sequence.wz(i)) <= 0.2);
EXPECT_TRUE(fabs(control_sequence.vx(i)) / fabs(control_sequence.wz(i)) >= 0.2);
}

// Check that Ackermann Drive is properly non-holonomic and parameterized
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