reset motion model (#5149)

adivardi · web-flow · commit d362e74611ff · 2025-05-12T10:36:10.000-07:00
Signed-off-by: Adi Vardi &lt;adi.vardi@enway.ai&gt;
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
@@ -147,6 +147,8 @@ void Optimizer::reset()
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);
 
   noise_generator_.reset(settings_, isHolonomic());
+  motion_model_->initialize(settings_.constraints, settings_.model_dt);
+
   RCLCPP_INFO(logger_, "Optimizer reset");
 }
 

Original file line number	Diff line number	Diff line change
`@@ -147,6 +147,8 @@ void Optimizer::reset()`
`147`	`147`	`generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);`
`148`	`148`
`149`	`149`	`noise_generator_.reset(settings_, isHolonomic());`
	`150`	`+ motion_model_->initialize(settings_.constraints, settings_.model_dt);`
	`151`	`+`
`150`	`152`	`RCLCPP_INFO(logger_, "Optimizer reset");`
`151`	`153`	`}`
`152`	`154`