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 :)
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.csvwe 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 theOnline Single-Piece Polynomialssection 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 :)