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When updating controller params, the controller dt could be updated without updating the feedback controller's dt.
This commit switches from virtual C-stye variadic method implementations for debug(), info(), warning(), and error() to variadic template implementations with internal virtual methods that could be overwritten by subclasses. This allows easier wrapping around the RCLCPP logging framework set up in ROS 2. Switching to variadic templates also allows for a potential future change to allow device-side logging with more limited functionality (no colored output wrapping or file stream selection for printing). As I'm still unsure how to address the device-side storage of the logger across multiple different classes safely, this will be left for future changes.
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Hi @bogidude and @JasonGibson274, the branch related to PR is 6 commits ahead of the master branch. I am looking to learning to using this library. Is the branch with this PR the most stable version of the MPPI-Generic library? Best, |
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Yes, this branch has fixes that we are planning to merge in to the master branch. I have been using it personally for the past several months and we just have not had the time to do a formal code review before merging it in. In regards to the future, we will be making some changes to the library's API but by the time we bring those publicly, we will start creating version tags so that you can keep using the current API if you wish. If you find any bugs, confusing behavior, or concerns, feel free to open an issue and we shall try to resolve it. |
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These commits address a couple of issues related to parameter configuration in the library. The first commit adds the ability in the plant to update the sampling distribution parameters in a multi-threaded scenario. The second fixes a small bug where updating the dt through
setParams()of the Controller class would not update the dt of its feedback controller.