66 lines
2.1 KiB
Markdown
66 lines
2.1 KiB
Markdown
---
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tags:
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- daily
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date: 2023-10-19
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---
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## 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
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- [ ]
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Tomorrow:
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finish nav3_bt_navigator:
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make sure that the behaviortrees that are added contain only BT-nodes that exist
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make sure that the default plugin-list only contains BT-nodes that exist
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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.
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## Quick Notes
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### Talk with Jerry
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TODOS
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- [ ] ask about proximity cost again
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#### 3D map is in C#
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**PathfinderDepthValues**
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Calculates length of the fruxels (initFixedValues)
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Fruxelsystem:
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64 Onion layers (index i), first 15 layers are linear, then the length is increased exponentially with a compound factor.
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![[Pasted image 20231019124320.png]]
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Node means Fruxel.
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GetNodePosition: get position of the node/fruxel center relative to the drone center
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ProximityCost: [Document](https://onesecinc.atlassian.net/wiki/spaces/MC1/pages/201195521/3D+foundation+model) that defines it (90+sqrt) --> implemented in CalculateProximityCost
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GetDistanceForIndex: distance from center to the start
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**FruxelNode**
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understand x y and z
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![[Pasted image 20231019125901.png]]
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x is 360°, y is 180°
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**FruxelGrid**
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This is the 3D-map
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GetNode function: takes care of wrapping fruxel indices
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3DMapHierarchy is not important for me.
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#### Pathfinder is in C++
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It is designed as a library --> inigo did use it as well.
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Grid.cpp --> fruxelgrid
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GridNode.cpp --> FruxelNode
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PathFinderController: entry point
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## Learnings
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## Todo Longterm
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- [ ] write down manufacturing steps and products.
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- [ ] propeller manufacturing / prototyping
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- [ ] carbon fiber parts
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- [ ]
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