fixed few review comments

Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com>
ros-navigation · Oct 2, 2024 · f9ed129 · f9ed129
1 parent 847f837
commit f9ed129
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
@@ -196,7 +196,7 @@ class Optimizer
  * @param state fill state
  */
  void integrateStateVelocities(
- Eigen::Array<float, -1, 3> & trajectories,
+ Eigen::Array<float, Eigen::Dynamic, 3> & trajectories,
  const Eigen::ArrayXXf & state) const;
 
  /**

diff --git a/nav2_mppi_controller/src/noise_generator.cpp b/nav2_mppi_controller/src/noise_generator.cpp
@@ -82,9 +82,9 @@ void NoiseGenerator::reset(mppi::models::OptimizerSettings & settings, bool is_h
  // Recompute the noises on reset, initialization, and fallback
  {
  std::unique_lock<std::mutex> guard(noise_lock_);
- noises_vx_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
- noises_vy_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
- noises_wz_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
+ noises_vx_.setZero(settings_.batch_size, settings_.time_steps);
+ noises_vy_.setZero(settings_.batch_size, settings_.time_steps);
+ noises_wz_.setZero(settings_.batch_size, settings_.time_steps);
  ready_ = true;
  }
 

diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
@@ -300,7 +300,7 @@ void Optimizer::propagateStateVelocitiesFromInitials(
 }
 
 void Optimizer::integrateStateVelocities(
- Eigen::Array<float, -1, 3> & trajectory,
+ Eigen::Array<float, Eigen::Dynamic, 3> & trajectory,
  const Eigen::ArrayXXf & sequence) const
 {
  float initial_yaw = static_cast<float>(tf2::getYaw(state_.pose.pose.orientation));
@@ -386,8 +386,8 @@ Eigen::ArrayXXf Optimizer::getOptimizedTrajectory()
 {
  const bool is_holo = isHolonomic();
  Eigen::ArrayXXf sequence = Eigen::ArrayXXf(settings_.time_steps, is_holo ? 3 : 2);
- Eigen::Array<float, -1, 3> trajectories =
- Eigen::Array<float, -1, 3>(settings_.time_steps, 3);
+ Eigen::Array<float, Eigen::Dynamic, 3> trajectories =
+ Eigen::Array<float, Eigen::Dynamic, 3>(settings_.time_steps, 3);
 
  sequence.col(0) = control_sequence_.vx;
  sequence.col(1) = control_sequence_.wz;