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Hello,
I've been reviewing the trajectory optimization code and noticed a potential issue in the segment labeled as "minimum snap matrix." The code snippet is as follows:
```
/* ---------- mini…
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Hello,
First of all, congratulations for such amazing work. Every one of HKUST papers on aerial robotics are very well written with lots of deep knowledge.
I am doing a project on autonomous dr…
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Hi,
Your code is very well written! I just have a question: how should I remove the obstacle constraints in the path planning? I would like to generate a 3-D minimum snap trajectory without any o…
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多项式明明拟合出应该是一条连续函数,为啥可以做到分段,eg:-pi = pi
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Hi,
According to the formula given in the blog, the code below
https://github.com/zm0612/Minimum-Snap/blob/0a31cc9c723e4fc8af81835277a1cbc342160788/src/waypoint_trajectory_generator/src/trajectory…
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作者您好,关于SFC3D部分,我有一些问题想跟您请教:
1. 在LineSegment.m函数中,第39-42行的含义您能讲解一下吗?我所理解的是在第38行中dir是直线的方向向量,而39行中的dir_h应该是切平面的法向量,它应该是平行于dir的?并且切点pp1等应该是 最大椭球与障碍物相切的切点,为什么要用例如第46行这样的表达去计算呢?
2. 在LineSegment.m函数中,第89-…
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How does a Quadrotor fly?
A journey from physics, mathematics, control systems and computer science towards a “Controllable Flying Object”
Corrado Santoro
ARSLAB - Autonomous and Robotic System…
mithi updated
3 years ago
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Great work!
I wonder how you connect bezier curve with velocity. "t" value of bezier curve seems not have meaningful physical explanation.
So you use "t" as time may violate the definition of beizer…
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Hi I am getting an assertion every time I run the racing.launch example. This only occurs running on Ubuntu 20.04LTS and ROS Noetic. It runs fine on Ubuntu 18.04 ROS Melodic. All using the default / e…
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Hello,
I would like to contribute to this repository since i am very interested in motion planning for drones. I read the issues and seems like the global planner hasn't been tested properly. What …