USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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About Trajectory CSV File #616

Closed imamim closed 2 years ago

imamim commented 2 years ago

Hello have a good day.

I have couple of question for trajectory's .csv file and uav_trajectory.py.

Firstly, in this ros_ws/src/crazyswarm/scripts/figure8.csv we have x,y,z,yaw value, but for both (and other all csv) we have 7 value of each element.I'm a bit confused here, can you explain what the values ​​in this csv are and why there are 7 of each? Does this code only contain 7th order polynomials as in the Online Single-Piece Polynomials section described in the paper?

Also, does the eval function in uav_trajectory.py get the speed value by applying the Mellinger control?

And lastly when i use cmd_FullState, is this command doing any controller for reach the target velocity ? Thanks for answer :)