automatic import of ros-humble-easynav-mpc-controlleropeneuler24.03_LTS_SP3

1 files changed, 15 insertions, 0 deletions

diff --git a/eigen-matrix-init-fix.patch b/eigen-matrix-init-fix.patch
new file mode 100644
index 0000000..20f9696
--- /dev/null
+++ b/eigen-matrix-init-fix.patch
@@ -0,0 +1,15 @@
+--- a/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp
++++ b/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp
+@@ -72,9 +72,9 @@
+ private:
+   int N_ {5};                                     ///< Horizont Step to optimize.
+   double dt_ {0.1};                               ///< Differential time to integrate.
+-  Eigen::Matrix2d Q_ {{4.0, 0.0}, {0.0, 4.0}};    ///< Tracking Cost Matrix
+-  Eigen::Matrix2d R_ {{0.1, 0.0}, {0.0, 0.1}};    ///< Effort Cost Matrix
+-  Eigen::Matrix2d Rd_ {{0.1, 0.0}, {0.0, 0.1}};   ///< Smooth Cost Matrix
++  Eigen::Matrix2d Q_ = (Eigen::Matrix2d() << 4.0, 0.0, 0.0, 4.0).finished();    ///< Tracking Cost Matrix
++  Eigen::Matrix2d R_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished();    ///< Effort Cost Matrix
++  Eigen::Matrix2d Rd_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished();   ///< Smooth Cost Matrix
+   double qtheta_ {3.0};                           ///< Angular cost value.
+ 
+ };