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<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#velocity-deadband-critic">Velocity Deadband Critic</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#example">Example</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#velocity-deadband-critic">Velocity Deadband Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#velocity-deadband-critic">Velocity Deadband Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#velocity-deadband-critic">Velocity Deadband Critic</a></li>
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Description
Power order to apply to term.

Velocity Deadband Critic
------------------------

This critic penalizes velocities that fall below the deadband threshold, helping to mitigate hardware limitations on certain platforms.

:cost_weight:

=============== ===========================
Type Default
--------------- ---------------------------
double 35.0
=============== ===========================

Description
Weight to apply to critic term.

:cost_power:

=============== ===========================
Type Default
--------------- ---------------------------
int 1
=============== ===========================

Description
Power order to apply to term.

:deadband_velocities:

=============== ===========================
Type Default
--------------- ---------------------------
array of double [0.05, 0.05, 0.05]
=============== ===========================

Description
The array of deadband velocities [vx, vz, wz]. A zero array indicates that the critic will take no action.

Example
*******
.. code-block:: yaml
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threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
# VelocityDeadbandCritic:
# enabled: true
# cost_power: 1
# cost_weight: 35.0
# deadband_velocities: [0.05, 0.05, 0.05]
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
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<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#velocity-deadband-critic">Velocity Deadband Critic</a></li>
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