---
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
	- [ ]