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reference trajectory linear MPC #41

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sandeepparameshwara opened this issue Feb 23, 2021 · 0 comments
Open

reference trajectory linear MPC #41

sandeepparameshwara opened this issue Feb 23, 2021 · 0 comments

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@sandeepparameshwara
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Hello,
when we publish a command trajectory through waypoint_publisher, how is it processed? Let's say my horizon length is 10. The terget state values x_r (which I get by steady state calculation) are same for all instants? Or, the waypoints are calculated through some kind of interpolation between initial and desired points?
Thanks in advance
Sandeep
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@sandeepparameshwara