Added mu tuning parameter to hp guidance

vortexntnu · Apr 14, 2024 · 833642d · 833642d
1 parent df221a6
commit 833642d
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/guidance/hybridpath_guidance/config/hybridpath_guidance_config.yaml b/guidance/hybridpath_guidance/config/hybridpath_guidance_config.yaml
@@ -5,4 +5,5 @@
       path_generator_order: 1 # Differentiability order
       time_to_max_speed: 10.0 # Time to reach maximum speed
       dt: 0.1 # Time step
-      u_desired: 0.5 # Desired speed
+      u_desired: 0.5 # Desired speed
+      mu: 0.03 # Tuning parameter 
diff --git a/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py b/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py
@@ -20,7 +20,8 @@ def __init__(self):
                 ('hybridpath_guidance.path_generator_order', 1),
                 ('hybridpath_guidance.time_to_max_speed', 10.0),
                 ('hybridpath_guidance.dt', 0.1),
-                ('hybridpath_guidance.u_desired', 0.5)
+                ('hybridpath_guidance.u_desired', 0.5),
+                ('hybridpath_guidance.mu', 0.03)
             ])
 
         self.waypoint_server = self.create_service(Waypoint, 'waypoint_list', self.waypoint_callback)
@@ -32,7 +33,7 @@ def __init__(self):
         self.path_generator_order = self.get_parameter('hybridpath_guidance.path_generator_order').get_parameter_value().integer_value
         self.dt = self.get_parameter('hybridpath_guidance.dt').get_parameter_value().double_value
         self.u_desired = self.get_parameter('hybridpath_guidance.u_desired').get_parameter_value().double_value
-        self.mu = 0.03
+        self.mu = self.get_parameter('hybridpath_guidance.mu').get_parameter_value().double_value
         self.eta = np.zeros(3)
 
         # Flags for logging