ethz-asl / mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS
Apache License 2.0
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reference trajectory linear MPC #41

Open sandeepparameshwara opened 3 years ago

sandeepparameshwara commented 3 years ago

Hello, when we publish a command trajectory through waypoint_publisher, how is it processed? Let's say my horizon length is 10. The terget state values x_r (which I get by steady state calculation) are same for all instants? Or, the waypoints are calculated through some kind of interpolation between initial and desired points? Thanks in advance Sandeep