Module mppi 

Vanilla MPPI controller for a 2-D double integrator.

This is the dependency-light baseline needed before TD-CD-MPPI-style terminal value and constraint-discounted extensions.

Structs

MppiCircularObstacle2D

Circular obstacle used by constraint-discounted MPPI rollouts.

MppiConfig

MPPI configuration.

MppiControl2D

Acceleration command for the double-integrator model.

MppiController2D

Vanilla MPPI controller.

MppiGateRace2D

Reference-free gate-progress objective for race-style MPPI.

MppiGateRaceReport2D

Summary for scoring a trajectory against a gate race.

MppiMovingObstacle2D

Linearly predicted circular obstacle for prediction-aware MPPI rollouts.

MppiPlan2D

Result for one MPPI optimization step.

MppiRacingGate2D

2-D racing gate for reference-free MPPI progress objectives.

MppiRollout2D

One MPPI rollout result.

MppiSamplingDiagnostics2D

Diagnostics for MPPI path-integral sample weights.

MppiState2D

State for a planar double-integrator model.

MppiTerminalValueGrid2D

Grid-based terminal value estimate for MPPI rollouts.

MppiTerminalValueReplayBuffer2D

Replay buffer for reusing recent MPPI rollouts in terminal-value learning.

MppiTerminalValueReplayUpdateReport2D

Summary returned after replay-buffer terminal-value updates.

MppiTerminalValueUpdateConfig2D

Configuration for online terminal-value updates from MPPI rollouts.

MppiTerminalValueUpdateReport2D

Summary returned after updating a terminal value grid from one rollout.

MppiTerminalValueUpdater2D

Online updater for terminal value grids.

MppiTrackProjection2D

Projection of a point onto a waypoint track.

MppiWaypointTrack2D

Polyline track helper for MPPI progress-based terminal values.