TrajectoryFcamMode compute wrong trajectory

[ClementLeBihan]

Hi,

I’m writing a guidance::TrajectoryFcamMode mode to follow an april tag.

It seems to work fine like you can see in this video : https://magcloud.magellium.com/owncloud/index.php/s/z6kgK2I4OMhA678.

Except at one time, trajectory seems to be reset to the beginning.

I display the targeted position and it looks normal.

Here is my generateDroneReference :

void ModeTest::generateDroneReference()
{
    guidance::PositionTrajectoryPoint positionTrajectoryPoint;
    positionTrajectoryPoint.position = Eigen::Vector3f(droneTargetPose(0,3), droneTargetPose(1,3), droneTargetPose(2,3));
    positionTrajectoryPoint.velocity = tagVelocity;
    positionTrajectoryPoint.acceleration = tagAcceleration;

    setDroneNominalPositionTrajectoryLocal(positionTrajectoryPoint); 
}

Any idea ?

Best,
Clément

[ClementLeBihan]

It seems to be fixed when calling guidance::TrajectoryFcamMode::beginStep(); at the beginning of my class’s beginStep().

Don’t know why …

[Ronan]

@ClementLeBihan

I display the targeted position and it looks normal.

Hi Clement,

Indeed, it is required to call “base” fcam or fstcam trajectory class in each overridden method of the “derived” class.

Thanks.

[ClementLeBihan]

Hi @Ronan,
Thank you for this info.

Should we call each fcam base function at the beginning or at the end of each overridden method ? Could you add it in the doc ?
Best,
Clément

[Ronan]

At the beginning of enter(), beginStep(), configure(), generateDroneReference(), endStep() if overridden (but it doesn’t really matter if it’s at the end).

Thanks,