why velocity calculation as follow code? - Githubissues

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

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why velocity calculation as follow code? #111

Closed chennuo0125-HIT closed 3 years ago

chennuo0125-HIT commented 3 years ago

https://github.com/HKUST-Aerial-Robotics/Fast-Planner/blob/2ddd7793eecd573dbb5b47e2c985aa06606df3cf/fast_planner/bspline/src/non_uniform_bspline.cpp#L232

chennuo0125-HIT commented 3 years ago

corresponding to formula (15) in paper "Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight"

chennuo0125-HIT commented 3 years ago

b样条求导: https://pages.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/Bezier/bezier-der.html