soldierofhell

One more question. If I want to add to cost term that minimize change of steering angle is it possible?

@amakarow, we can do it also spatially. Let's say (x^p_i, y^p_i) is our plan (in body frame). Then we fit poly f(x), such that y^p_i = f(x^p_i). Then for a...

``` planning.objective.type = "minimum_time_via_points" controller.global_plan_viapoint_sep > 0 ```

Hi @croesmann @amakarow, any plans to do it? If no, could you please elaborate more what is the idea of sharing distances computation?

Ok, I think I got where's the problem of sharing computations. We'd like to share the computations in both update() functions in StageCost and in InequalityConstraints. I guess we have...

Thank you @croesmann. So I'll try to do it myself. Fortunatelly I noticed some similarities with teb code base, so should be easier. Regards,

@croesmann , while doing ROS2 port I found a copy-bug here: https://github.com/rst-tu-dortmund/mpc_local_planner/blob/0ad611113cc215d2dd5f46eaabe7014b57288d30/mpc_local_planner/src/controller.cpp#L894

Can we safely replace g2o::normalize_theta() with normalize_theta() from math_utils.h? https://github.com/rst-tu-dortmund/mpc_local_planner/blob/0ad611113cc215d2dd5f46eaabe7014b57288d30/mpc_local_planner/src/mpc_local_planner_ros.cpp#L280 https://github.com/rst-tu-dortmund/mpc_local_planner/blob/0ad611113cc215d2dd5f46eaabe7014b57288d30/mpc_local_planner/src/controller.cpp#L906

I've already done it, although didn't have time to test it before holidays. I'm back on Monday and start testing

See the available options starting here: https://github.com/rst-tu-dortmund/mpc_local_planner/blob/9700f11f70db691a22eb76ec1b31cf0091f925d2/mpc_local_planner/src/controller.cpp#L555