uav_trajectories usage and development

[santiagorg2401]

Hi,
I'm currently working on improving my former thesis project CrazyKhoreia, which is presently at a preprint stage, so I want to port it into Crazyswarn2. Previously on Crazyswarm 1, I planned the path using the goTo function to each ith waypoint in a n x 3 waypoint matrix. To standardize it better, now I think a better approach would be to use your uav_trajectories classes; I understand you use piecewise 4D polynomials, as I do not need smooth trajectories then I would only need to adjust those 3D waypoints into your 4D polynomial format, then what are the requirements when generating a trajectory file?

Thank you for your time, have a lovely day.

[whoenig]

goTo actually plans smooth trajectories onboard the UAV, so it's not a poor choice, unless you don't like the stopping at the intermediate waypoints.

We use https://github.com/whoenig/uav_trajectories to generate the trajectories.

[santiagorg2401]

Got it, thank you.