Expand description
Adaptive person-following helpers for MPPI.
This is a compact 2-D reproduction slice of Adap-RPF: target-centric following-point sampling, multi-objective candidate scoring, and prediction-aware MPPI goal generation.
Structsยง
- Mppi
Person Following Candidate2D - Candidate following point evaluated around the predicted target person.
- Mppi
Person Following Config2D - Configuration for target-centric adaptive following-point sampling.
- Mppi
Person Following Sampler2D - Deterministic adaptive person-following sampler.
- Person
Following Metrics Accumulator2D - Incremental accumulator for
PersonFollowingRolloutMetrics2D. - Person
Following Metrics Config2D - Configuration for person-following rollout metrics.
- Person
Following Rollout Metrics2D - Aggregated geometric metrics over a person-following rollout.