Obstacle in state-based case

uzh-rpg / agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

MIT License

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Obstacle in state-based case #3

Closed soldierofhell closed 2 years ago

soldierofhell commented 2 years ago

Hi, I've got question about obstacle definition in state-based case. README states about "metric distance to obstacles". On the other hand Obstacle msg has position and scale. Is position relative? What exactly is scale? Regards,

yun-long commented 2 years ago

The relative position between the center of the quadrotor and the center of the sphere obstacles. The scale means the size of the obstacles, in radius.

it is defined in here

soldierofhell commented 2 years ago

Great, thanks