Function mav_trajectory_generation::estimateSegmentTimesNfabian

• Defined in File vertex.h

Function Documentation

std::vector<double> mav_trajectory_generation::estimateSegmentTimesNfabian(const Vertex::Vector &vertices, double v_max, double a_max, double magic_fabian_constant = 6.5)

Makes a rough estimate based on v_max and a_max about the time required to get from one vertex to the next.

t_est = 2 * distance/v_max * (1 + magic_fabian_constant * v_max/a_max * exp(- distance/v_max * 2); magic_fabian_constant was determined to 6.5 in a student project …