20-25% performance improvement in MPPI controller using Eigen library for computation. #4621

Ayush1285 · 2024-08-14T20:56:39Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4237 #3351
Primary OS tested on	Ubuntu
Robotic platform tested on	NA, Optimizer Benchmark
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Replaced xtensor with Eigen library for computation.
Performance increased by 20-25% with footprint and critics enabled.
Currently WIP

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

Signed-off-by: Ayush1285 <[email protected]>

… files Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-14T20:57:20Z

This pull request is in conflict. Could you fix it @Ayush1285?

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-16T20:30:40Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-19T18:13:28Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-19T18:24:27Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

I did a pretty fast review, so far from complete on each detail, but a good starting point!

nav2_mppi_controller/CMakeLists.txt

nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp

nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp

nav2_mppi_controller/src/critics/constraint_critic.cpp

nav2_mppi_controller/src/optimizer.cpp

…ator Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-20T19:55:22Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-08-23T17:46:40Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-08-23T18:17:03Z

Let me know here when you want me to take a look again! I'm quite excited for this work - even if for no reason than to move to Eigen + 10% performance boost, since Eigen's release and support is much more known than xtensor's

Ayush1285 · 2024-08-23T19:07:20Z

Let me know here when you want me to take a look again! I'm quite excited for this work - even if for no reason than to move to Eigen + 10% performance boost, since Eigen's release and support is much more known than xtensor's

Sure, I'm trying a few optimizations and will push changes once I'm done.

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-09-02T20:23:20Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 · 2024-09-03T17:58:57Z

Let me know here when you want me to take a look again! I'm quite excited for this work - even if for no reason than to move to Eigen + 10% performance boost, since Eigen's release and support is much more known than xtensor's

I've completed the migration to Eigen. But we need to make sure that functionality-wise everything is correct or not. I'll run tests and ensure that all of them are passing. Meanwhile, you can take a look at the latest changes.

mergify · 2024-09-03T18:22:16Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

I did a first look through (didn't analyze in detail the math in the critics, but higher level programming items first), but generally looks good to me with some details to answer!

SteveMacenski · 2024-09-04T16:19:21Z

nav2_mppi_controller/CMakeLists.txt

 find_package(ament_cmake REQUIRED)
-find_package(xsimd REQUIRED)
-find_package(xtensor REQUIRED)
+find_package(Eigen3 REQUIRED)


Are the various check_cxx_compiler_flag useful for Eigen? Any other ones that would be good for Eigen specifically (those are ones pointed out by xtensor)?

-mfma is necessary for fast floating point fused multiply-add operations. Answer by one of the Eigen Core maintainer, He has also mentioned enabling OpenMP for multi-threading. And it seems there is no harm in keeping ISA flags(SSE/AVX).

One interesting find, I tried removing the -fast-math flag and it speeds up the performance by a big margin.
For 2000 * 50 size:
xtensor: 11.6 ms avg.
Eigen with fast-math flag: 8.9 ms
Eigen without fast-math flag: 7.5 ms

And it seems there is no harm in keeping ISA flags(SSE/AVX).

There actually is, ARM based processors have inconsistent support for them or versions, so it makes release difficult. If they don't impact performance positively, we should remove them and removes an entire vector of potential problems (which we're currently running into in #4380 and a few other places in the past). If they're important, lets keep them but I had hoped this would be a good source of removal of problems with Eigen, but alas such is life 😆

I'd be curious about OpenMP's changes in performance! We could make that a build option if it helps and those that want to use it can!

https://stackoverflow.com/questions/56547557/basic-ways-to-speed-up-a-simple-eigen-program https://github.com/owlbarn/eigen/blob/master/README.md there are some remarks here on AVX/fast-math, mfma. Might be worth doing a bit of research on Eigen-specific compiler optimizations, it looks like a rich vein and what was good for xtensor might not be right for Eigen.

Perhaps -O3? We do that with Smac Planner since it helps so much, I hardly want people using it without a high level of optimization

For fast-math, it might be worth testing on a couple of CPUs if you have them to make sure (if not, I can also test on my side, I have a few on my benchtop). What experiment are you running to get that performance change and/or does it include all the critics?

If they're important, lets keep them but I had hoped this would be a good source of removal of problems with Eigen

On my CPU only -mfma and -O3 impacted performance positively(and removal of fast-math also). There was no impact of AVX and SSE flags.

For fast-math, it might be worth testing on a couple of CPUs if you have them to make sure (if not, I can also test on my side, I have a few on my benchtop). What experiment are you running to get that performance change and/or does it include all the critics?

Currently, I have only one CPU :(. You can try it on your CPUs if possible. I'm running optimizer_benchmark/BM_diffDrive with all these critics loaded: {{"ConstraintCritic"}, {"CostCritic"}, {"PathAlignCritic"}, {"GoalCritic"}, {"GoalAngleCritic"}, {"ObstaclesCritic"},{"PathAngleCritic"}, {"PathFollowCritic"}, {"PreferForwardCritic"}};

There actually is, ARM based processors have inconsistent support for them or versions, so it makes release difficult.

Oh, I wasn't aware of this. Once merge conflicts and build errors are resolved, then we can test on multiple CPUs with different flags.

Hey @SteveMacenski, after fixing all the tests and system tests, these are the timings that I'm getting on my machine. I'm using optimizer_benchmark.cpp to compare the timings.

batch_size = 2000;
time_steps = 56;
path_points = 50;
iteration_count = 2;
lookahead_distance = 20;
critics = {{"ConstraintCritic"}, {"CostCritic"}, {"GoalCritic"},
{"GoalAngleCritic"}, {"PathAlignCritic"}, {"PathFollowCritic"}, {"PathAngleCritic"}, {"PreferForwardCritic"}};

The result looks good. I know you are very busy currently in ROSCon, after that whenever you are relatively free, can you try the PR on your machine and check if similar performance gains are reproducible?

Wow. So you're seeing a ~47% increase in performance? That's incredible. What CPU did you test this against?

nav2_mppi_controller/benchmark/optimizer_benchmark.cpp

nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp

nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp

nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp

nav2_mppi_controller/src/optimizer.cpp

SteveMacenski · 2024-09-04T16:28:47Z

nav2_mppi_controller/src/optimizer.cpp

    vx_last = vx_curr;

    float & wz_curr = control_sequence_.wz(i);
-    wz_curr = std::clamp(wz_curr, wz_last - max_delta_wz, wz_last + max_delta_wz);


Worth having a util for clamp that implements this instead of putting inline for each location? It is prone to copy+paste errors

I think this is still nice-to-have, but I won't block for it

@Ayush1285 thoughts on adding this? it would make things quite a bit more readable and less error prone for future modifiations

nav2_mppi_controller/src/optimizer.cpp

Signed-off-by: Ayush1285 <[email protected]>

mergify · 2024-09-09T17:59:58Z

@Ayush1285, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-09-10T06:28:40Z

This pull request is in conflict. Could you fix it @Ayush1285?

nav2_mppi_controller/src/noise_generator.cpp

Ayush1285 · 2024-09-16T21:06:26Z

Should I have this another review? I know you're actively working and don't want to pester you mid-dev cycle :-)

Actually, I am also busy in other deliverables. So, I'm not able to allocate much time. But I'll let you know in 3-4 days maybe, once I've finished fixing the test failures and other review comments.

…ally Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski · 2024-10-02T16:20:47Z

Please request a review or otherwise comment when you want me to take a look again :-)

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 · 2024-10-02T16:28:59Z

Please request a review or otherwise comment when you want me to take a look again :-)

Yes, I've requested for the review. All unit tests are passing now, but system tests are still failing.

SteveMacenski · 2024-10-02T19:02:49Z

Retriggering the job - that could just be flaky. I do want to see coverage results before I review so I can use that in my review process. So I'll review once that is uploaded on the job success. I don't think there's an action item for you (just waiting on the build).

mergify · 2024-10-03T18:40:10Z

This pull request is in conflict. Could you fix it @Ayush1285?

Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski · 2024-10-07T23:33:42Z

Reviewing in the next hour or two. I commented on 2 previous comments on clamp and if the rolling was implemented. There's a couple more open comments on optimizations, but nothing we need to do immediately (just once we agree on everything else for the final touches). I appreciate your effort and diligence here!

SteveMacenski

I got through everything except for the critic functions (but reviewed its unit tests so given that those work properly and have good coverage, I do not expect to find any issues there)

SteveMacenski · 2024-10-07T23:42:28Z

nav2_mppi_controller/test/critics_tests.cpp

  critic.score(data);
-  EXPECT_NEAR(costs(0), 3.3, 4e-1);  // (mean of noise with mu=0, sigma=0.5 * 10.0 weight
+  EXPECT_NEAR(costs(0), 2.581, 4e-1);  // (mean of noise with mu=0, sigma=0.5 * 10.0 weight


Why is this different?

nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp

nav2_mppi_controller/src/critics/goal_angle_critic.cpp

nav2_mppi_controller/src/optimizer.cpp

Ayush1285 · 2024-10-08T07:16:33Z

Reviewing in the next hour or two. I commented on 2 previous comments on clamp and if the rolling was implemented. There's a couple more open comments on optimizations, but nothing we need to do immediately (just once we agree on everything else for the final touches). I appreciate your effort and diligence here!

I'll address those review comments, but I'm not sure why system tests are failing consistently. I've tried running it manually but there is some issue with my docker environment. Can you try running it on your machine if possible?

SteveMacenski · 2024-10-08T14:30:26Z

I'll retrigger CI to see if it'll work on a retry and just a fluke. Admittedly this week I'm running around finishing up ROSCon / ROS-I presentations, flying, and all day meetings in Chicago, so I can't promise how much time I'll have to test, but I will try. Hopefully I can work testing and debugging on the plane.

Edit: I just looked at the logs, and this looks like a real failure, not just some CI quirk.


[controller_server-8] [INFO] [1728398318.183782512] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.192005615] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.192141359] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.235159477] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.243666000] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.243732031] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.285450921] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.294741884] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.294834492] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.334985955] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.347333222] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.347411397] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.385154574] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.398325507] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.398394071] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.435473489] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.444402291] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.444483007] [controller_server]: Optimizer fail to compute path
[controller_server-8] [INFO] [1728398318.483917228] [controller_server]: Optimizer reset
[controller_server-8] [INFO] [1728398318.493731596] [controller_server]: Optimizer reset
[controller_server-8] [WARN] [1728398318.493824433] [controller_server]: Optimizer fail to compute path

Ayush1285 · 2024-10-16T19:57:03Z

Edit: I just looked at the logs, and this looks like a real failure, not just some CI quirk.

@SteveMacenski Yes, after investigation, I found out that there is some problem with CostCritic. After some control loops, it is always returning all_trajectories_collide as True, which causes failure. If I remove the CostCritic plugin, then it works fine. I'll need to look further to pinpoint the exact issue. Also, there is no test for CostCritc in the critics_test.cpp file.

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 · 2024-10-17T17:31:50Z

@SteveMacenski It seems system tests are passing now after fixing the CostCritic issue but dwb_critics tests failed, Is it a flaky test? On my local system, it is passing.

Signed-off-by: Ayush1285 <[email protected]>

codecov · 2024-10-20T13:37:05Z

Codecov Report

Attention: Patch coverage is 83.66013% with 50 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
..._mppi_controller/src/critics/constraint_critic.cpp	21.05%	15 Missing ⚠️
...ontroller/src/critics/velocity_deadband_critic.cpp	25.00%	12 Missing ⚠️
...2_mppi_controller/src/critics/obstacles_critic.cpp	75.00%	4 Missing ⚠️
..._mppi_controller/src/critics/path_angle_critic.cpp	85.71%	3 Missing ⚠️
...i_controller/src/critics/prefer_forward_critic.cpp	40.00%	3 Missing ⚠️
nav2_mppi_controller/src/optimizer.cpp	96.25%	3 Missing ⚠️
nav2_mppi_controller/src/critics/cost_critic.cpp	80.00%	2 Missing ⚠️
..._mppi_controller/src/critics/goal_angle_critic.cpp	60.00%	2 Missing ⚠️
nav2_mppi_controller/src/critics/goal_critic.cpp	71.42%	2 Missing ⚠️
..._mppi_controller/src/critics/path_align_critic.cpp	81.81%	2 Missing ⚠️
... and 2 more

Files with missing lines	Coverage Δ
...er/include/nav2_mppi_controller/critic_manager.hpp	`100.00% <ø> (ø)`
...e/nav2_mppi_controller/models/control_sequence.hpp	`100.00% <100.00%> (ø)`
...oller/include/nav2_mppi_controller/models/path.hpp	`100.00% <100.00%> (ø)`
...ller/include/nav2_mppi_controller/models/state.hpp	`100.00% <100.00%> (ø)`
...clude/nav2_mppi_controller/models/trajectories.hpp	`100.00% <100.00%> (ø)`
...ler/include/nav2_mppi_controller/motion_models.hpp	`100.00% <100.00%> (ø)`
...troller/include/nav2_mppi_controller/optimizer.hpp	`100.00% <ø> (ø)`
...ude/nav2_mppi_controller/tools/noise_generator.hpp	`100.00% <ø> (ø)`
...v2_mppi_controller/tools/trajectory_visualizer.hpp	`100.00% <ø> (ø)`
...oller/include/nav2_mppi_controller/tools/utils.hpp	`97.65% <100.00%> (+0.44%)`	⬆️
... and 14 more

... and 3 files with indirect coverage changes

Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski · 2024-11-07T00:49:53Z

Back from ROSCon / ROS-I meetings now. Reviewing the software / remaining open items today. I think next steps from there are for me to play with this on my machine as well and:

do some sanity testing of the various critics to make sure they're still working as I expect
do some functional sanity checking on the math for the (1) optimizer, (2) motion models, and (3) constraint compliance on the output optimal trajectory. These are software changes I want to scrutinize a little more functionally after a code review for my own piece of mind
Performance benchmarking :-)
Ask another non-me party to review the software changes and the performance on their practically applied platform as a second verification

Then good to merge and very publicly thank you for this amazing work 🎆

Is there anything else you think needs to be done here or is planned that we should factor in?

I'm noticing on the code coverage report that there are a couple of lines that are no longer being tested that the UX is saying were covered before in the Obstacle Critic and possibly Optimizer (?). Its just a few stray lines, but makes my eyebrows raise a little bit since I'm not sure how that's possible if the tests are unchanged and they appear to be things that should be triggering 🤷

Please go through all open comments (you may need to expand some the GitHub UX collapses) as some are open questions I want the 👍 on that you checked on those things. There are 5 above this comment :-)

SteveMacenski

I got to everything except for the main optimizer file, I ran out of time :(

SteveMacenski · 2024-11-07T01:04:23Z

nav2_mppi_controller/test/utils_test.cpp

+  array_1d << 1, 2, 3, 4;
+  utils::shiftColumnsByOnePlace(array_1d, 1);
+  EXPECT_EQ(array_1d.size(), 4);
+  EXPECT_EQ(array_1d(1), 1);


Please test the value at index 0

SteveMacenski · 2024-11-07T01:04:38Z

nav2_mppi_controller/test/utils_test.cpp

+  EXPECT_EQ(array_1d.size(), 4);
+  EXPECT_EQ(array_1d(0), 5);
+  EXPECT_EQ(array_1d(1), 2);
+  EXPECT_EQ(array_1d(2), 3);


Please test the value at index 3

SteveMacenski · 2024-11-07T01:05:28Z

nav2_mppi_controller/test/utils_test.cpp

+  EXPECT_EQ(array_2d(2, 2), 10);
+  EXPECT_EQ(array_2d(0, 3), 3);
+  EXPECT_EQ(array_2d(1, 3), 7);
+  EXPECT_EQ(array_2d(2, 3), 11);


Please test the 0th column

SteveMacenski · 2024-11-07T01:05:44Z

nav2_mppi_controller/test/utils_test.cpp

+  EXPECT_EQ(array_2d(2, 1), 10);
+  EXPECT_EQ(array_2d(0, 2), 3);
+  EXPECT_EQ(array_2d(1, 2), 7);
+  EXPECT_EQ(array_2d(2, 2), 11);


Please test the 3rd column

SteveMacenski · 2024-11-07T01:15:23Z

nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp

+    yaws_between_points_corrected[i] = yaws[i] < M_PIF_2 ?
+      yaw_between_point : angles::normalize_angle(yaw_between_point + M_PIF);
+  }
+  return yaws_between_points_corrected;


Can we remove this copy?

SteveMacenski · 2024-11-07T01:34:41Z

nav2_mppi_controller/src/critics/prefer_forward_critic.cpp

-      xt::sum(
-        std::move(
-          xt::maximum(-data.state.vx, 0)) * data.model_dt, {1}, immediate) * weight_, power_);
+    data.costs += Eigen::pow(


Why is this one Eigen::pow while the others use .pow()?

SteveMacenski · 2024-11-07T01:36:52Z

nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp

-      weight_,
-      power_);
+    data.costs += ((((fabs(deadband_velocities_[0]) - data.state.vx.abs()).max(0.0f) +
+      (fabs(deadband_velocities_[1]) - data.state.vy.abs()).max(0.0f) +


We don't do vy / [1] for this condition if not doing omnidirectional (as well below). Its an optimization for differential / ackermann robots

SteveMacenski · 2024-11-07T01:37:47Z

nav2_mppi_controller/src/critics/cost_critic.cpp

+  int strided_traj_rows = data.trajectories.x.rows();
+  int outer_stride = strided_traj_rows * trajectory_point_step_;
+
+  const auto traj_x = Eigen::Map<const Eigen::ArrayXXf, 0,


STEVE: Review this one the other striding Q is answered

SteveMacenski · 2024-11-07T01:38:44Z

nav2_mppi_controller/src/critics/obstacles_critic.cpp

-      (critical_weight_ * raw_cost) +
-      (repulsion_weight_ * repulsive_cost_normalized),
-      power_);
+    data.costs += Eigen::pow(


Another Eigen::pow

SteveMacenski · 2024-11-07T01:43:07Z

nav2_mppi_controller/src/critics/obstacles_critic.cpp

+
+  // Default layout in eigen is column-major, hence accessing elements
+  // in column-major fashion to utilize L1 cache as much as possible
+  for(unsigned int i = 0; i != traj_len; i++) {


I think this should be looked at again, I don't think this is actually a 1:1 reimplementation. The behavior with raw_cost, traj_cost dont appear to me to be the same

SteveMacenski

Completed the full review

SteveMacenski · 2024-11-07T15:57:20Z

nav2_mppi_controller/src/optimizer.cpp

-  float vy_last = control_sequence_.vy(0);
-  float wz_last = control_sequence_.wz(0);
-  for (unsigned int i = 1; i != control_sequence_.vx.shape(0); i++) {
+  float vx_last = std::min(


I don't understand: why is idx 0 treated differently? Couldn't the loop just start with 0 instead of 1?

Ayush1285 added 7 commits June 6, 2024 23:47

Initial commit

137f75d

Signed-off-by: Ayush1285 <[email protected]>

Corrected to Eigen Array

a2c11e6

Signed-off-by: Ayush1285 <[email protected]>

updated motion model with eigen

8df6757

Signed-off-by: Ayush1285 <[email protected]>

Replaced xtensor with eigen in Optimizer, NoiseGenerator and all Util…

0f3a0f8

… files Signed-off-by: Ayush1285 <[email protected]>

updated critics with Eigen

3e0bcd4

Signed-off-by: Ayush1285 <[email protected]>

optimized Eigen::Array implementation

f244e0a

Signed-off-by: Ayush1285 <[email protected]>

added comment

96b14d1

Signed-off-by: Ayush1285 <[email protected]>

Updated path align critic and velocity deadband critic with Eigen

62eb959

Signed-off-by: Ayush1285 <[email protected]>

Updated cost critic and constraint critic with eigen

3d8f987

Signed-off-by: Ayush1285 <[email protected]>

Updated utils test with Eigen

bc5b377

Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski requested changes Aug 19, 2024

View reviewed changes

Reverted unnecessary changes and fixed static instance in Noise gener…

5fb8006

…ator Signed-off-by: Ayush1285 <[email protected]>

changes std::abs to fabs, clamp to min-max

46baa06

Signed-off-by: Ayush1285 <[email protected]>

Converted tests to Eigen

a336814

Signed-off-by: Ayush1285 <[email protected]>

Complete conversion from xtensor to Eigen

93d017b

Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski requested changes Sep 4, 2024

View reviewed changes

fixed few review comments

0f82afe

Signed-off-by: Ayush1285 <[email protected]>

SteveMacenski reviewed Sep 16, 2024

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Ayush1285 and others added 3 commits October 2, 2024 00:11

Merge branch 'ros-navigation:main' into eigen_mppi

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Merge branch 'ros-navigation:main' into eigen_mppi

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Fixed all the unit tests and critic tests, all unit tests passing loc…

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…ally Signed-off-by: Ayush1285 <[email protected]>

fixed few review comments

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Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 marked this pull request as ready for review October 2, 2024 16:26

Ayush1285 requested a review from SteveMacenski October 2, 2024 16:27

Merged the latest SG Filter changes

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Signed-off-by: Ayush1285 <[email protected]>

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Ayush1285 and others added 2 commits October 17, 2024 02:08

Merge branch 'ros-navigation:main' into eigen_mppi

0327754

Fixed CostCritic issue and added test for shiftColumn method

2f8bd63

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 and others added 2 commits October 20, 2024 17:39

Merge branch 'ros-navigation:main' into eigen_mppi

55f7fae

Added test for new functions

902a72d

Signed-off-by: Ayush1285 <[email protected]>

Removed compiler flags

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Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 requested a review from SteveMacenski October 20, 2024 19:11

RandomSpaceship mentioned this pull request Nov 5, 2024

navigation2 does not build lopsided98/nix-ros-overlay#286

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SteveMacenski requested changes Nov 7, 2024

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20-25% performance improvement in MPPI controller using Eigen library for computation. #4621

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20-25% performance improvement in MPPI controller using Eigen library for computation. #4621

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Ayush1285 commented Aug 14, 2024 • edited Loading

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