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HKUST-Aerial-Robotics / Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
GNU General Public License v3.0
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SpatialTemporalTrajectory #39

Closed hesuieins closed 4 years ago

hesuieins commented 4 years ago

Hi,

Thanks for the amazing open source work. I have some details that I can't understand totally. The /tr_node/space_time_traj topic seems to store the information of the desired path generated by the /tr_node. And I'm confusing, what's the meaning of the polynomial coefficients of the trajectory in the SpatialTemporalTrajectory. How can I rebuild the trajectory by using these topic? Thanks for your reply in advance!

Best wishes, Suiyi

bigsuperZZZX commented 4 years ago

"space_time_traj" is a Bézier curve the details can be viewed from our paper "Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments". If you just want to rebuild this trajectory, refer to the the traj_server.cpp, which receives this "space_time_traj" and converts it to drone control commands in function "rcvTrajectoryCallBack".

USTfgaoaa commented 4 years ago

@hesuieins Please check the above comment and close this issue If the problem solved.

hesuieins commented 4 years ago

Thanks for your reply！