ego_planner学习

飞行类型

enum TARGET_TYPE

    {

      MANUAL_TARGET = 1,

      PRESET_TARGET = 2,

      REFENCE_PATH = 3

    };

---

target_type_ == TARGET_TYPE::PRESET_TARGET)

      trigger_sub_ = nh.subscribe("/traj_start_trigger", 1, &EGOReplanFSM::triggerCallback, this);

---

    nh.param("fsm/waypoint_num", waypoint_num_, -1);

    for (int i = 0; i < waypoint_num_; i++)

    {

      nh.param("fsm/waypoint" + to_string(i) + "_x", waypoints_[i][0], -1.0);

      nh.param("fsm/waypoint" + to_string(i) + "_y", waypoints_[i][1], -1.0);

      nh.param("fsm/waypoint" + to_string(i) + "_z", waypoints_[i][2], -1.0);

    }

---

        <arg name="point_num" value="1" />

        <arg name="point0_x" value="15" />

        <arg name="point0_y" value="0" />

        <arg name="point0_z" value="1" />

        <arg name="point1_x" value="0.0" />

        <arg name="point1_y" value="0.0" />

        <arg name="point1_z" value="1.0" />

        <arg name="point2_x" value="15.0" />

        <arg name="point2_y" value="0.0" />

        <arg name="point2_z" value="1.0" />

        <arg name="point3_x" value="0.0" />

        <arg name="point3_y" value="0.0" />

        <arg name="point3_z" value="1.0" />

        <arg name="point4_x" value="15.0" />

        <arg name="point4_y" value="0.0" />

        <arg name="point4_z" value="1.0" />

由原代码知道，点数目是最大是50。

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