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[mppi] color trajectories by cost #5637

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[mppi] color trajectories by cost #5637

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fd515b7
[mppi] color trajectories by cost
adivardi Oct 6, 2025
9649454
fix linting
adivardi Oct 22, 2025
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1 change: 1 addition & 0 deletions nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp
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Expand Up @@ -29,6 +29,7 @@ struct Trajectories
Eigen::ArrayXXf x;
Eigen::ArrayXXf y;
Eigen::ArrayXXf yaws;
Eigen::ArrayXf costs;
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You could make this a reference that points to costs_ (just would need a constructor and pass it in). I didn't trace this completely to know if this is neat in terms of where Trajectories is constructed, but it would be preferable so that we didn't have that huge copy

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I'd also accept another solution that doesn't involve copying the costs vector around. Its quite large.


/**
* @brief Reset state data
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1 change: 1 addition & 0 deletions nav2_mppi_controller/src/optimizer.cpp
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Expand Up @@ -226,6 +226,7 @@ void Optimizer::optimize()
generateNoisedTrajectories();
critic_manager_.evalTrajectoriesScores(critics_data_);
updateControlSequence();
generated_trajectories_.costs = costs_;
}
}

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19 changes: 18 additions & 1 deletion nav2_mppi_controller/src/trajectory_visualizer.cpp
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Expand Up @@ -111,6 +111,23 @@ void TrajectoryVisualizer::add(
const float shape_1 = static_cast<float>(n_cols);
points_->markers.reserve(floor(n_rows / trajectory_step_) * floor(n_cols * time_step_));

std::vector<std::pair<size_t, float>> sorted_costs;
sorted_costs.reserve(std::ceil(n_rows / trajectory_step_));

for (size_t i = 0; i < n_rows; i += trajectory_step_) {
sorted_costs.emplace_back(i, trajectories.costs(i));
}
std::sort(sorted_costs.begin(), sorted_costs.end(),
[](const auto & a, const auto & b) {return a.second < b.second;});

const float step = 1.0f / static_cast<float>(sorted_costs.size());
float color_component = 1.0f;
std::map<size_t, float> cost_color_map;
for (const auto & pair : sorted_costs) {
cost_color_map[pair.first] = color_component;
color_component -= step;
}

for (size_t i = 0; i < n_rows; i += trajectory_step_) {
for (size_t j = 0; j < n_cols; j += time_step_) {
const float j_flt = static_cast<float>(j);
Expand All @@ -119,7 +136,7 @@ void TrajectoryVisualizer::add(

auto pose = utils::createPose(trajectories.x(i, j), trajectories.y(i, j), 0.03);
auto scale = utils::createScale(0.03, 0.03, 0.03);
auto color = utils::createColor(0, green_component, blue_component, 1);
auto color = utils::createColor(cost_color_map[i], green_component, blue_component, 1);
auto marker = utils::createMarker(
marker_id_++, pose, scale, color, frame_id_, marker_namespace);

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