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ZJU-FAST-Lab / EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
GNU General Public License v3.0
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Plan global traj through multiple WPs #6

Closed ghost closed 2 years ago

ghost commented 2 years ago

Hi, thanks for the amazing work. I was wondering if the EGOPlannerManager::planGlobalTrajWaypoints method inplanner_manager.cpp can be used for multi-WP continuous global trajectory generation. By default the FSM logic seems to visit each WP one-by-one. I wanted your insight on how to go about adding the multi-WP continuous global traj generation. The above-mentioned function already has the core planning logic, but I wanted to get some clarity on how to integrate this with the FSM.

bigsuperZZZX commented 2 years ago

Sorry for replying so late! In fact, our old version took the continuous global traj generation logic. We modified it to the current logic later. You could check the difference between them to see what we did to FSM via this link. image

bigsuperZZZX commented 2 years ago

I'll close this issue if there are no more questions