2.1 KiB
tags, date
| tags | date | |
|---|---|---|
|
2023-10-19 |
Tasks
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Write node that generates Odometry message and topic for the odometry_utils smoother.
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implement tasks in vscode to run tests efficiently
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Maybe implement a devcontainer? --> how would you do that with credentials?
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write obsidian articles about pointers: inspiration here: https://iamsorush.com/posts/weak-pointer-cpp/
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prepare swashplate testing
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prepare drone for tomorrow
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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.
!
Node means Fruxel.
GetNodePosition: get position of the node/fruxel center relative to the drone center
ProximityCost: Document that defines it (90+sqrt) --> implemented in CalculateProximityCost
GetDistanceForIndex: distance from center to the start
FruxelNode
understand x y and z
!
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