bigsuperZZZX
commented
2 years ago It's just a geometry problem. The code changes the direction of the body-z vector to a limited angle to world-z. In fact, any reasonable engineering consideration works.
Closed 19ohh closed 2 years ago
bigsuperZZZX
commented
2 years ago It's just a geometry problem. The code changes the direction of the body-z vector to a limited angle to world-z. In fact, any reasonable engineering consideration works.
Hi, Gao, in SO3Control.cpp of the uav-simulator module in your Ego planner code, there are several parameters A, B, C, s (about in line 82-87), they are used to calculate the variable force_ (force.noalias() = s f + mass_ g * Eigen::Vector3d(0, 0, 1);) Can you please explain what is the theoretical basis for this calculation? Thank you!