Comments (2)
Hi @chhtz
I think currently it's only possible to give one set of constraints per trajectory. You'd have to define an optimization problem for each trajectory with different constaints and concatenate these afterwards..
from mav_trajectory_generation.
Thanks for the response. Not sure, how I would get smooth transitions between the sub-trajectories with your suggestion.
What I'm doing at the moment is manually calculating the segment-times (using computeTimeVelocityRamp
) and just do a linear optimization based on that. I'm sure, I'll overshoot near the transition points, but for now this is sufficient for me.
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Related Issues (20)
- catkin build error HOT 2
- Unable to run example.launch HOT 3
- Documentation neglects to mention certain installation dependencies HOT 1
- Segment Cost computation HOT 1
- omav reference angular acceleraion HOT 2
- time budget
- Message type conflict: PolynomialTrajectory with PolynomialTrajectory4D HOT 1
- Missing dependency to yaml_cpp_catkin HOT 1
- reaching maximum velocity as soon as possible HOT 2
- Isolated build fails
- undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, boost::shared_ptr<YAML::detail::memory_holder>)' HOT 1
- How do I update the planner in example.launch? HOT 1
- Can't roslaunch HOT 1
- After adding a few more waypoints, the example does not work HOT 1
- catkin_build problem
- Issues on step catkin build mav_trajectory_generation_ros
- wrong number of all constraints
- Can we add nonholonomic constraints in this optimization problem? HOT 1
- Installation on Noetic HOT 1
- What's the meaning of the orange line?
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