use fabs

ros-navigation · Mar 14, 2024 · 46a134a · 46a134a
1 parent c87f781
commit 46a134a
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/nav2_mppi_controller/src/critics/goal_angle_critic.cpp b/nav2_mppi_controller/src/critics/goal_angle_critic.cpp
@@ -46,11 +46,11 @@ void GoalAngleCritic::score(CriticData & data)
 
   if (power_ > 1u) {
     data.costs += xt::pow(
-      xt::mean(xt::abs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) *
+      xt::mean(xt::fabs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) *
       weight_, power_);
   } else {
     data.costs += xt::mean(
-      xt::abs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) * weight_;
+      xt::fabs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) * weight_;
   }
 }
 

diff --git a/nav2_mppi_controller/src/critics/path_angle_critic.cpp b/nav2_mppi_controller/src/critics/path_angle_critic.cpp
@@ -106,7 +106,7 @@ void PathAngleCritic::score(CriticData & data)
     case PathAngleMode::FORWARD_PREFERENCE:
       {
         auto yaws =
-          xt::abs(utils::shortest_angular_distance(
+          xt::fabs(utils::shortest_angular_distance(
             xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points));
         if (power_ > 1u) {
           data.costs += xt::pow(std::move(yaws) * weight_, power_);
@@ -118,11 +118,11 @@ void PathAngleCritic::score(CriticData & data)
     case PathAngleMode::NO_DIRECTIONAL_PREFERENCE:
       {
         auto yaws =
-          xt::abs(utils::shortest_angular_distance(
+          xt::fabs(utils::shortest_angular_distance(
             xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points));
         const auto yaws_between_points_corrected = xt::where(
           yaws < M_PIF_2, yaws_between_points, utils::normalize_angles(yaws_between_points + M_PIF));
-        const auto corrected_yaws = xt::abs(
+        const auto corrected_yaws = xt::fabs(
           utils::shortest_angular_distance(
             xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points_corrected));
         if (power_ > 1u) {
@@ -135,9 +135,9 @@ void PathAngleCritic::score(CriticData & data)
     case PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS:
       {
         const auto yaws_between_points_corrected = xt::where(
-          xt::abs(utils::shortest_angular_distance(yaws_between_points, goal_yaw)) < M_PIF_2,
+          xt::fabs(utils::shortest_angular_distance(yaws_between_points, goal_yaw)) < M_PIF_2,
           yaws_between_points, utils::normalize_angles(yaws_between_points + M_PIF));
-        const auto corrected_yaws = xt::abs(
+        const auto corrected_yaws = xt::fabs(
           utils::shortest_angular_distance(
             xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points_corrected));
         if (power_ > 1u) {

diff --git a/nav2_mppi_controller/src/critics/twirling_critic.cpp b/nav2_mppi_controller/src/critics/twirling_critic.cpp
@@ -38,9 +38,9 @@ void TwirlingCritic::score(CriticData & data)
   }
 
   if (power_ > 1u) {
-    data.costs += xt::pow(xt::mean(xt::abs(data.state.wz), {1}, immediate) * weight_, power_);
+    data.costs += xt::pow(xt::mean(xt::fabs(data.state.wz), {1}, immediate) * weight_, power_);
   } else {
-    data.costs += xt::mean(xt::abs(data.state.wz), {1}, immediate) * weight_;
+    data.costs += xt::mean(xt::fabs(data.state.wz), {1}, immediate) * weight_;
   }
 }