vault backup: 2025-02-03 08:29:48

99 Work/0 OneSec/OneSecNotes/00 Daily/2023-10-19.md

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+---
+tags:
+  - daily
+date: 2023-10-19
+---
+## Tasks
+- [ ] Write node that generates Odometry message and topic for the odometry_utils smoother.
+- [ ] implement tasks in vscode to run tests efficiently 
+- [ ] Maybe implement a devcontainer? --> how would you do that with credentials?
+- [ ] write obsidian articles about pointers: inspiration here: https://iamsorush.com/posts/weak-pointer-cpp/
+
+
+- [ ] prepare swashplate testing
+- [ ] prepare drone for tomorrow
+- [ ] call with jerry
+- [ ] 
+
+Tomorrow:
+finish nav3_bt_navigator:
+make sure that the behaviortrees that are added contain only BT-nodes that exist
+make sure that the default plugin-list only contains BT-nodes that exist
+write instructions on how to add a new plugin/bt-node: [[How to add a Behavior Tree Node]] --> it needs to be added to the default list in bt_navigator/bt_navigator.cpp as well.
+
+## Quick Notes
+
+
+### Talk with Jerry
+TODOS
+- [ ] ask about proximity cost again
+#### 3D map is in C# 
+**PathfinderDepthValues**
+Calculates length of the fruxels (initFixedValues)
+Fruxelsystem:
+64 Onion layers (index i), first 15 layers are linear, then the length is increased exponentially with a compound factor.
+![[Pasted image 20231019124320.png]]
+Node means Fruxel.
+GetNodePosition: get position of the node/fruxel center relative to the drone center
+ProximityCost: [Document](https://onesecinc.atlassian.net/wiki/spaces/MC1/pages/201195521/3D+foundation+model) that defines it (90+sqrt) --> implemented in CalculateProximityCost
+GetDistanceForIndex: distance from center to the start
+
+**FruxelNode**
+understand x y and z
+![[Pasted image 20231019125901.png]]
+x is 360°, y is 180°
+
+**FruxelGrid**
+This is the 3D-map
+GetNode function: takes care of wrapping fruxel indices
+3DMapHierarchy is not important for me.
+
+#### Pathfinder is in C++
+It is designed as a library --> inigo did use it as well.
+Grid.cpp --> fruxelgrid
+GridNode.cpp --> FruxelNode
+
+PathFinderController: entry point
+
+## Learnings
+
+
+## Todo Longterm
+- [ ] write down manufacturing steps and products.
+	- [ ] propeller manufacturing / prototyping
+	- [ ] carbon fiber parts
+	- [ ]