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ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.
Apache License 2.0
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tiny questions #67

Closed schweinebauch closed 6 years ago

schweinebauch commented 6 years ago

hello I am a beginner of trajectory generation problem and want to catch up with you guys. When I read your codes I got some small questions: 1.whats the meaning of BaseCofficients, why did you calculate these parameters and also for Candidates? What are they used for? Could you give me a favor in details? Thanks in advanced!

helenol commented 6 years ago

Hi @schweinebauch, the math is described in this paper: https://dspace.mit.edu/openaccess-disseminate/1721.1/106840 The base coefficients are just a convenience matrix to store the powers of t at fixed times (i.e., segment boundaries).