How can I change the initial velocity and acceleration?

[Robinaoko]

I send the trajectory to a simulated UAV for testing, but every time I regenerate a new trajectory, the speed and acceleration will start at zero.

[Robinaoko]

I want the UAV to continue flying when it suddenly changes the goal point, but I'm not sure how to set the initial velocity so that the UAV will slow down to zero and then fly again each time.

[yanguavlab]

I want the UAV to continue flying when it suddenly changes the goal point, but I'm not sure how to set the initial velocity so that the UAV will slow down to zero and then fly again each time.

Hi, I also want to know it, have you solved it?

[Robinaoko]

@chongjingzheng Not yet. I tried to modify the initial velocity and acceleration in the demo.cpp.

void trajGeneration(Eigen::MatrixXd path)
{
TrajectoryGeneratorWaypoint trajectoryGeneratorWaypoint;
MinimumTimeOptimizer time_optimizer;

MatrixXd vel = MatrixXd::Zero(2,3); 
MatrixXd acc = MatrixXd::Zero(2,3);

I changed zero to real-time data from the odometer, but the trajectory generated was not correct. If you have any new ideas, we can discuss them together.