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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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Adding angular constraints #98

Closed viswanarayanans closed 4 years ago

viswanarayanans commented 4 years ago

I'm using trajectory planner with obstacle avoidance. I have a front facing camera with my drone. So, I want the direction of the drone to be aligned with the direction of trajectory. How can I add the constraints to that?

rikba commented 4 years ago

There is no easy way to enforce yaw along the trajectory, except for enforcing yaw at the vertices. However, you can overwrite the yaw policy when you sample the trajectory and send it to your controller. See mav_voxblox_planning for inspiration.