adjusted delays better, created an ideal traj file for multi_traj

IMRCLab · Feb 1, 2024 · 7d66ee8 · 7d66ee8
1 parent 9967d8a
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Showing 5 changed files with 81 additions and 25 deletions.
diff --git a/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv b/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv
@@ -1,5 +1,5 @@
 Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7
-0.960464,0.294342,0,0,0,-2.11233,4.6768,-3.73784,1.04989,0.172656,0,0,0,3.30457,-7.9007,6.65669,-1.94082,0.069979,0,0,0,-0.297773,0.623628,-0.493335,0.138654,0,0,0,0,0,0,0,0
+0.960464,0.0,0,0,0,-2.11233,4.6768,-3.73784,1.04989,0.0,0,0,0,3.30457,-7.9007,6.65669,-1.94082,0.0,0,0,0,-0.297773,0.623628,-0.493335,0.138654,0,0,0,0,0,0,0,0
 1.57331,0.176622,-0.147985,0.0532986,0.0623229,0.343746,-0.500924,0.241338,-0.0403025,0.289553,0.0742267,-0.0522539,-0.0351683,-0.975361,1.50407,-0.788135,0.141456,0.043558,-0.0592408,-0.0401473,-0.00342225,-1.05145,1.64557,-0.878344,0.159958,0,0,0,0,0,0,0,0
 1.68226,0.294342,0.17123,-0.0334701,-0.0192207,-0.0992382,0.118149,-0.0472082,0.00658999,0.084993,-0.0345305,0.0714366,0.00548031,0.800464,-1.18606,0.592827,-0.10086,-0.246232,0.00212717,0.0685892,0.0024846,1.23285,-1.76366,0.869779,-0.147011,0,0,0,0,0,0,0,0
 1.92896,0.374489,-0.0338637,0.00252255,0.00888171,0.0111398,-0.0108929,0.00298726,-0.000251823,0.276975,-0.0784884,-0.0934159,0.000645144,-1.04135,1.33809,-0.584077,0.0868443,0.183524,0.0937667,-0.0541849,-0.00524925,-0.318377,0.393297,-0.166638,0.0242508,0,0,0,0,0,0,0,0
@@ -29,5 +29,5 @@ Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1
 1.27955,0.296893,-0.0207413,-0.0288722,0.000206756,-1.45292,2.73635,-1.78001,0.396694,0.363893,0.0205828,-0.0396241,-0.00426978,-2.18054,3.96089,-2.52441,0.555328,0.000432,0.116162,-0.0271769,-0.0121203,-0.0967398,0.0511672,0.0231312,-0.0137364,0,0,0,0,0,0,0,0
 1.25924,0.129979,-0.0386626,0.0254433,0.00229348,0.314605,-0.568015,0.359101,-0.0786867,0.096373,-0.177655,-0.00188175,0.0162637,-1.43193,2.92354,-2.00733,0.465729,0.019741,-0.0837562,-0.0114419,0.0108961,-0.89746,1.80018,-1.22397,0.282268,0,0,0,0,0,0,0,0
 1.35118,0.155486,0.0338914,-0.00270101,-0.0039661,0.202739,-0.374799,0.237823,-0.0512712,-0.106737,0.0769914,0.0704076,-0.0152089,1.54198,-2.90366,1.8396,-0.394692,-0.101778,0.0286494,0.0412961,-0.00329222,1.31264,-2.35215,1.45212,-0.306802,0,0,0,0,0,0,0,0
-1.14424,0.2,0.0015442,-0.00224162,0.00123466,-0.00661606,0.0134679,-0.00982511,0.00245085,0.1,-0.0953098,-0.0830381,0.0218392,-2.55729,5.66335,-4.2252,1.06822,0.1,0.0445589,-0.0317429,-0.000623191,-0.213517,0.427027,-0.293881,0.0698972,0,0,0,0,0,0,0,0
-1.06974,0.2,-7.36408e-05,0.000107209,-5.42089e-05,0.000468972,-0.00106323,0.000841569,-0.000226684,-0.1,0.0736875,0.104178,-0.0410587,3.38468,-7.9737,6.38949,-1.73737,0.1,-0.0104492,0.00871066,0.00133714,0.089598,-0.209747,0.164384,-0.043835,0,0,0,0,0,0,0,0
+1.14424,0.2,0.0015442,-0.00224162,0.00123466,-0.00661606,0.0134679,-0.00982511,0.00245085,0.0,-0.0953098,-0.0830381,0.0218392,-2.55729,5.66335,-4.2252,1.06822,0.1,0.0445589,-0.0317429,-0.000623191,-0.213517,0.427027,-0.293881,0.0698972,0,0,0,0,0,0,0,0
+1.06974,0.0,-7.36408e-05,0.000107209,-5.42089e-05,0.000468972,-0.00106323,0.000841569,-0.000226684,0.0,0.0736875,0.104178,-0.0410587,3.38468,-7.9737,6.38949,-1.73737,0.1,-0.0104492,0.00871066,0.00133714,0.089598,-0.209747,0.164384,-0.043835,0,0,0,0,0,0,0,0
diff --git a/systemtests/figure8_ideal_traj.csv b/systemtests/figure8_ideal_traj.csv
@@ -1,10 +1,12 @@
 duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7,
 
+#### wait on the ground
+0.6,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
 
 ####takeoff
 2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.000000,0.000000,0.232052,0.184839,0.030911,-0.176192,0.050572,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
 ####hover
-3.65,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
+3.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
 ####figure8
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 0.710000,0.396058,0.918033,0.128965,-0.773546,0.339704,0.034310,-0.026417,-0.030049,-0.445604,-0.684403,0.888433,1.493630,-1.361618,-0.139316,0.158875,0.095799,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
@@ -17,6 +19,6 @@ duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1
 0.710000,-0.923935,0.447832,0.627381,-0.259808,-0.042325,-0.032258,0.001420,0.005294,0.288570,0.873350,-0.515586,-0.730207,-0.026023,0.288755,0.215678,-0.148061,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
 1.053185,-0.398611,0.850510,-0.144007,-0.485368,-0.079781,0.176330,0.234482,-0.153567,0.447039,-0.532729,-0.855023,0.878509,0.775168,-0.391051,-0.713519,0.391628,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
 ####hover
-2.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
+1.7,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
 ####landing
 2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000001,0.000000,0.000000,-0.232049,-0.184841,-0.030916,0.176196,-0.050573,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
diff --git a/systemtests/multi_trajectory_traj0_ideal.csv b/systemtests/multi_trajectory_traj0_ideal.csv
@@ -0,0 +1,52 @@
+Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7
+
+#wait before takeoff
+0.5,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
+
+
+####takeoff
+2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.000000,0.000000,0.232052,0.184839,0.030911,-0.176192,0.050572,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
+
+####hover
+3.5,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
+
+####flying around
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