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View Code? Open in Web Editor NEWRectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
License: GNU General Public License v3.0
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
License: GNU General Public License v3.0
Hi ! Thank you for your great work. I notice that in the trajectory generation part. you set the initial position, velocity and accelerate to 0;
int GetNextCandidateTrajectory(
RapidQuadrocopterTrajectoryGenerator::RapidTrajectoryGenerator& nextTraj) {
CommonMath::Vec3 posf;
_planner->DeprojectPixelToPoint(_pixelX(_gen), _pixelY(_gen),
_depth(_gen), posf);
nextTraj.Reset();
nextTraj.SetGoalPosition(posf);
nextTraj.SetGoalVelocity(CommonMath::Vec3(0, 0, 0));
nextTraj.SetGoalAcceleration(CommonMath::Vec3(0, 0, 0));
nextTraj.Generate(_time(_gen));
return 0;
}
to my understanding the sampled reference point from trajectory is sent to controller in the world frame. So I have 3 questions as below:
we solved the above question by init the new trajectory with the current sampled point like below
RapidTrajectoryGenerator rappid_traj_temp = RapidTrajectoryGenerator(
Vec3(last_sample_p_in_camera_(0), last_sample_p_in_camera_(1), last_sample_p_in_camera_(2)),
Vec3(last_sample_v_in_camera_(0), last_sample_v_in_camera_(1), last_sample_v_in_camera_(2)),
Vec3(last_sample_a_in_camera_(0), last_sample_a_in_camera_(1), last_sample_a_in_camera_(2)),
gravity_in_camera_);
however, i noticed that when replanning happens, if the first sampled point of new trajectory is the same with the current sampled point(like the code above). the Closed form condition in RAPPIDS(traj(t) = ct^5 + ct^4 + ct^3 + ct^2+ ct + c intersect with a plane knowing one intersection point has a closed form of other intersection point) does not meet, how to solve this problem?
thank you again!
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