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Q: updating desired trajectory in the loop #10

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JuliusSustarevas opened this issue Jan 19, 2022 · 0 comments
Open

Q: updating desired trajectory in the loop #10

JuliusSustarevas opened this issue Jan 19, 2022 · 0 comments

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@JuliusSustarevas
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JuliusSustarevas commented Jan 19, 2022 •
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Hi just a quick question:
Is there a reason costDesiredTrajerctories areset in every mpc loop iteration?
mpcInterface_->setTargetTrajectories(costDesiredTrajectories_);
I can probably just set it when it changed right?
I have very long trajectories so i think no reason to copy them over and over again in every iteration
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@JuliusSustarevas