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Docs for Path Angle Bidirectionality #435

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Docs for Path Angle Bidirectionality #435

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12 changes: 12 additions & 0 deletions configuration/packages/configuring-mppic.rst
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Expand Up @@ -620,6 +620,17 @@ Path Angle Critic
Description
Angular distance (rad) between robot and goal above which path angle cost starts being considered

:forward_preference:

============== ===========================
Type Default
-------------- ---------------------------
bool true
============== ===========================

Description
Whether or not your robot has a preference for which way is forward in motion. Different from if reversing is generally allowed, but if you robot contains *no* particular preference one way or another.

Path Follow Critic
------------------

Expand Down Expand Up @@ -812,6 +823,7 @@ Example
offset_from_furthest: 4
threshold_to_consider: 0.40
max_angle_to_furthest: 1.0
forward_preference: true
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
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