偏航是怎么约束的？

[puffyq]

多项式明明拟合出应该是一条连续函数，为啥可以做到分段，eg：-pi = pi

[ZhiangChen]

Please refer to the following papers for the trajectory generation method and geometric controller.

• Mellinger, D., & Kumar, V. (2011, May). Minimum snap trajectory generation and control for quadrotors. In 2011 IEEE international conference on robotics and automation (pp. 2520-2525). IEEE.

• Lee, T., Leok, M., & McClamroch, N. H. (2010, December). Geometric tracking control of a quadrotor UAV on SE (3). In 49th IEEE conference on decision and control (CDC) (pp. 5420-5425). IEEE.

[kashifzr]

#include <uav_motion/waypointsAction.h>

uav_motion::waypointsFeedback feedback_;
uav_motion::waypointsResult result_;

@ZhiangChen Can you share file where waypointsFeedback and waypointsResult is define, I think you define them in waypointAction file, but i did see them
How to find them?

[ZhiangChen]

https://github.com/ZhiangChen/uav_motion/blob/master/action/waypoints.action