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MPPI's Path Align Critic and Path Handler object now have options to utilize the path's orientation information to force the controller to change directions when and only when requested by a feasible planner. When ``enforce_path_inversion`` is ``true``, the path handler will prune the path to the first time the directions change to force the controller to plan to the inversion point and then be set the rest of the path, once in tolerance. The Path Align critic also contains a parameter ``use_path_orientations`` which can be paired with it to incentivize aligning the path containing orientation information to better attempt to achieve path inversions where requested **and** not do them when not requested.

See MPPI's configuration guide for complete information.

Move Error Code Enumerations
****************************

`PR #3693 <https://github.com/ros-planning/navigation2/pull/3693>`_ moves the enumeration codes from the goal to the result section.
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
</ul>
</li>
</ul>
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