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29 lines
1.1 KiB
Plaintext
29 lines
1.1 KiB
Plaintext
# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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uint8 POINT_4 = 4
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uint8 X = 0
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uint8 Y = 1
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uint8 Z = 2
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uint8 TIME_HORIZON = 3
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uint8 YAW = 4
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uint8 YAW_SPEED = 5
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uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
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uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
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float32[6] point_0 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
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float32[6] point_1 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
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float32[6] point_2 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
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float32[6] point_3 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
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float32[6] point_4 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
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bool[5] point_valid # States if respective point is valid
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# TOPICS trajectory_bezier trajectory_bezier_desired
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