reset motion model (#5149) (#5156)

mergify[bot] · adivardi · web-flow · commit 2dde228cd0ff · 2025-05-13T13:17:57.000-07:00
(cherry picked from commit d362e74) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com>
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
@@ -141,6 +141,8 @@ void Optimizer::reset()
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);
 
   noise_generator_.reset(settings_, isHolonomic());
+  motion_model_->initialize(settings_.constraints, settings_.model_dt);
+
   RCLCPP_INFO(logger_, "Optimizer reset");
 }
 

Original file line number	Diff line number	Diff line change
`@@ -141,6 +141,8 @@ void Optimizer::reset()`
`141`	`141`	`generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);`
`142`	`142`
`143`	`143`	`noise_generator_.reset(settings_, isHolonomic());`
	`144`	`+ motion_model_->initialize(settings_.constraints, settings_.model_dt);`
	`145`	`+`
`144`	`146`	`RCLCPP_INFO(logger_, "Optimizer reset");`
`145`	`147`	`}`
`146`	`148`