Closed andrewgazelka closed 6 years ago
@ritikmishra I agree that intermediate waypoints should help determine heading, and maybe a modified Pure Pursuit would determine velocity at a certain period. However, when picking up cubes I am thinking we will need a specific heading (and lowered velocity). Maybe we can combine Pure Pursuit with some more basic trajectory alg when we get very close to the destination?
what probably makes more sense is being able to set max/min velocities between waypoints (dynamic versions of VR_MAX
,VL_MAX
,VR_MIN
,VL_MIN
)
Perhaps we can fix theta in splines where we can set the derivative at a control point (speed works)
If this were added, it would be with splines.
Alright, I've figured out how to make parametric cubic splines. Hopefully this will be fixed soon
Yay. 👍 let's close this after we do unit tests in the simulator.
Unit tests on splines have been completed in the simulator and are quite successful.
🎉
I think that the angle can be best achieved with the use of intermediate waypoints