Multi-robot Systems (MRS) group at Czech Technical University in Prague
One drone gps visualization #105
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klaxalk
JonathanVogt
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Hello, I wanted to know, on the one drone gps simulation, what does the small frames and blue arrows depict ?
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Answered by
klaxalk
Oct 28, 2021
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Hello, the small frame represents the current pose of the drone, as being estimated by the UAV state estimator. The arrows are a "debugging" product of the MpcTracker. Namely, there is an internal MPC reference (the straight "line" of arrows) and the actual predicted horizon (the curved one). |
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matemat13
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Hello, the small frame represents the current pose of the drone, as being estimated by the UAV state estimator. The arrows are a "debugging" product of the MpcTracker. Namely, there is an internal MPC reference (the straight "line" of arrows) and the actual predicted horizon (the curved one).