Tested

Author: MC00614

src/bi_mppi.cpp

@@ -34,17 +34,17 @@ int main() {
 
     int maxiter = 200;
 
-    for (int s = 0; s < 3; ++s) {
+    for (int s = 0; s < 2; ++s) {
         switch (s)
         {
         case 0:
-            param.x_init(0) = 1.5;
+            param.x_init(0) = 0.5;
             break;
         case 1:
-            param.x_init(0) = 0.5;
+            param.x_init(0) = 2.5;
             break;
         case 2:
-            param.x_init(0) = 2.5;
+            param.x_init(0) = 1.5;
             break;
         default:
             break;

src/cluster_mppi.cpp

@@ -29,17 +29,17 @@ int main() {
     // for (int map = 299; map >= 0 ; --map) {
     // for (int map = 276; map >= 0; --map) {
     // for (int s = 1; s < 2; ++s) {
-    for (int s = 0; s < 3; ++s) {
+    for (int s = 0; s < 2; ++s) {
         switch (s)
         {
         case 0:
-            param.x_init(0) = 1.5;
+            param.x_init(0) = 0.5;
             break;
         case 1:
-            param.x_init(0) = 0.5;
+            param.x_init(0) = 2.5;
             break;
         case 2:
-            param.x_init(0) = 2.5;
+            param.x_init(0) = 1.5;
             break;
         default:
             break;

src/log_mppi.cpp

@@ -29,17 +29,17 @@ int main() {
     // for (int map = 299; map >= 0 ; --map) {
     // for (int map = 276; map >= 0; --map) {
     // for (int s = 1; s < 2; ++s) {
-    for (int s = 0; s < 3; ++s) {
+    for (int s = 0; s < 2; ++s) {
         switch (s)
         {
         case 0:
-            param.x_init(0) = 1.5;
+            param.x_init(0) = 0.5;
             break;
         case 1:
-            param.x_init(0) = 0.5;
+            param.x_init(0) = 2.5;
             break;
         case 2:
-            param.x_init(0) = 2.5;
+            param.x_init(0) = 1.5;
             break;
         default:
             break;

src/mppi.cpp

@@ -29,17 +29,17 @@ int main() {
     // for (int map = 299; map >= 0 ; --map) {
     // for (int map = 276; map >= 0; --map) {
     // for (int s = 1; s < 2; ++s) {
-    for (int s = 0; s < 3; ++s) {
+    for (int s = 0; s < 2; ++s) {
         switch (s)
         {
         case 0:
-            param.x_init(0) = 1.5;
+            param.x_init(0) = 0.5;
             break;
         case 1:
-            param.x_init(0) = 0.5;
+            param.x_init(0) = 2.5;
             break;
         case 2:
-            param.x_init(0) = 2.5;
+            param.x_init(0) = 1.5;
             break;
         default:
             break;