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Fix various parameter configuration issues #25

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Fix various parameter configuration issues #25

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2aa346d
Add sampler params configuration to base_plant.hpp
bogidude Sep 17, 2025
f139f7e
Fix potential dt desync in controller.cuh
bogidude Sep 17, 2025
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5 changes: 5 additions & 0 deletions include/mppi/controllers/controller.cuh
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Original file line number Diff line number Diff line change
Expand Up @@ -837,6 +837,7 @@ public:
{
bool change_seed = p.seed_ != params_.seed_;
bool change_num_timesteps = p.num_timesteps_ != params_.num_timesteps_;
bool change_dt = p.dt_ != params_.dt_;
// bool change_std_dev = p.control_std_dev_ != params_.control_std_dev_;
params_ = p;
if (change_num_timesteps)
Expand All @@ -847,6 +848,10 @@ public:
{
setSeedCUDARandomNumberGen(params_.seed_);
}
if (change_dt)
{
fb_controller_->setDt(p.dt_);
}
}

int getNumIters() const
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28 changes: 28 additions & 0 deletions include/mppi/core/base_plant.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ class BasePlant
using COST_PARAMS_T = typename COST_T::COST_PARAMS_T;
using TEMPLATED_CONTROLLER = CONTROLLER_T;
using CONTROLLER_PARAMS_T = typename CONTROLLER_T::TEMPLATED_PARAMS;
using SAMPLER_T = typename CONTROLLER_T::TEMPLATED_SAMPLING;
using SAMPLER_PARAMS_T = typename CONTROLLER_T::TEMPLATED_SAMPLING_PARAMS;

// Feedback related aliases
using FB_STATE_T = typename CONTROLLER_T::TEMPLATED_FEEDBACK::TEMPLATED_FEEDBACK_STATE;
Expand All @@ -61,10 +63,13 @@ class BasePlant
std::mutex cost_params_guard_;
CONTROLLER_PARAMS_T controller_params_;
std::mutex controller_params_guard_;
SAMPLER_PARAMS_T sampler_params_;
std::mutex sampler_params_guard_;

std::atomic<bool> has_new_dynamics_params_{ false };
std::atomic<bool> has_new_cost_params_{ false };
std::atomic<bool> has_new_controller_params_{ false };
std::atomic<bool> has_new_sampler_params_{ false };
std::atomic<bool> enabled_{ false };

// Values needed
Expand Down Expand Up @@ -332,6 +337,10 @@ class BasePlant
{
return has_new_controller_params_;
};
virtual bool hasNewSamplerParams()
{
return has_new_sampler_params_;
};

virtual DYN_PARAMS_T getNewDynamicsParams(bool set_flag = false)
{
Expand All @@ -348,6 +357,11 @@ class BasePlant
has_new_controller_params_ = set_flag;
return controller_params_;
}
virtual SAMPLER_PARAMS_T getNewSamplerParams(bool set_flag = false)
{
has_new_sampler_params_ = set_flag;
return sampler_params_;
}

virtual void setDynamicsParams(const DYN_PARAMS_T& params)
{
Expand All @@ -367,6 +381,12 @@ class BasePlant
controller_params_ = params;
has_new_controller_params_ = true;
}
virtual void setSamplerParams(const SAMPLER_PARAMS_T& params)
{
std::lock_guard<std::mutex> guard(sampler_params_guard_);
sampler_params_ = params;
has_new_sampler_params_ = true;
}

virtual void setLogger(const mppi::util::MPPILoggerPtr& logger)
{
Expand Down Expand Up @@ -423,6 +443,14 @@ class BasePlant
CONTROLLER_PARAMS_T controller_params = getNewControllerParams();
controller_->setParams(controller_params);
}
// Update sampler params
if (hasNewSamplerParams())
{
std::lock_guard<std::mutex> guard(sampler_params_guard_);
changed = true;
SAMPLER_PARAMS_T sampler_params = getNewSamplerParams();
controller_->setSamplingParams(sampler_params);
}
return changed;
}

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