Feature/overactuated pullup

ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

Apache License 2.0

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Feature/overactuated pullup #97

Closed karenbodie closed 4 years ago

karenbodie commented 4 years ago

Includes 6dof trajectory capabilities for fully- and overactuated systems. Currently compatible with feature/6D_extension of mav_comm

rikba commented 4 years ago

Please merge master into this branch first to view new changes.

karenbodie commented 4 years ago

@michaelpantic @rikba master now merged in, sorry! Also: added functionality to append segments with different times, scaling polynomials to the longer segment time. In the 6dof example, velocity and acceleration limits are now indepenty set for translation and rotation.

rikba commented 4 years ago

please test this

rikba commented 4 years ago

test this please