Model State Initialization

[KoushikRaghav]

Hi, I'm trying to understand mppi controller's constraint critic logic. I would like to know where critics_data.state.vx,critics_data.state.vy,critics_data.state.wz are getting initialized. I could see a matrix of data being initialized. When looked into optimizer.cpp, all the member variables of state.hpp are getting initialized (like robotpose, velocity, fail_flag). Can anyone help me to understand this? I wanted to add a new constraint to restrict the yaw motion of the robot

[SteveMacenski]

Ask on robot stack exchange, this is not the correct place for Q&A