def plan_mission(mission):
# this is an example illustrating the different motion commands,
# replace them with your own commands and activate all beacons
commands = [
#cmd.down(0.5),
#cmd.right(1),
#cmd.turn_left(45),
#cmd.forward(sqrt(2)),
#cmd.turn_right(45),
#cmd.right(1),
#cmd.turn_left(45),
#cmd.forward(sqrt(0.5)),
#cmd.turn_left(90),
#cmd.forward(sqrt(0.5)),
#cmd.turn_left(45),
#cmd.forward(1),
#cmd.turn_right(45),
#cmd.backward(sqrt(2)),
#cmd.turn_left(45),
#cmd.forward(1),
cmd.up(1.5),
cmd.forward(5),
cmd.turn_left(90),
cmd.forward(2),
cmd.turn_left(90),
cmd.down(0.5),
cmd.forward(5),
cmd.turn_left(90),
cmd.forward(4),
cmd.turn_left(90),
cmd.forward(5),
]
mission.add_commands(commands)
def plan_mission(mission):
# this is an example illustrating the different motion commands,
# replace them with your own commands and activate all beacons
commands = [
# suppose that the beacons are placed on a set of grid points,
# labelled as follows:
# (0,0), (0,1), (0,2)
# (1,0), (1,1), (1,2)
# (2,0), (2,1), (2,2)
# increase altitude to meet beacons
cmd.up(1.0),
# align with first grid point at grid point (2,2)
cmd.turn_right(90.0),
cmd.forward(2.0),
cmd.turn_left(90.0),
# move through the beacon at (2,2) to the beacon at (0,2)
cmd.forward(5.0),
# align with beacon at grid point (0,1)
cmd.turn_left(90.0),
# move from beacon at (0,2) through the beacon at (0,1) to the beacon at (0,0)
cmd.forward(4.0),
# align with beacon at grid point (1,0)
cmd.turn_left(90.0),
# move from beacon at (0,0) through the beacon at (1,0) to the beacon at (2,0)
cmd.forward(4.0),
# align with beacon at grid point (2,1)
cmd.turn_left(90.0),
# move beacon at grid point (2,1)
cmd.forward(2.0),
# align with beacon at grid point (1,1)
cmd.turn_left(90.0),
# move beacon at grid point (2,1)
cmd.forward(2.0),
]
mission.add_commands(commands)
def plan_mission(mission):
# this is an example illustrating the different motion commands,
# replace them with your own commands and activate all beacons
commands = [
cmd.up(1),
cmd.turn_left(90 - 26.57),
cmd.forward(sqrt((2 * 0.5)**2 + (4 * 0.5)**2)),
cmd.turn_right(90 - 26.57),
cmd.forward(4),
cmd.right(2),
cmd.backward(4),
cmd.right(2),
cmd.forward(4),
cmd.turn_left(45),
]
mission.add_commands(commands)
def plan_mission(mission):
# this is an example illustrating the different motion commands,
# replace them with your own commands and activate all beacons
commands = [
cmd.up(1),
cmd.forward(6),
cmd.turn_left(90),
cmd.forward(2),
cmd.turn_left(90),
cmd.forward(6),
cmd.turn_left(90),
cmd.forward(4),
cmd.turn_left(90),
cmd.forward(6),
]
mission.add_commands(commands)
def plan_mission(mission):
mission.add_commands([
cmd.up(1.0),
cmd.forward(1),
cmd.left(2),
cmd.forward(4),
cmd.turn_left(45),
cmd.backward(sqrt(32)),
cmd.turn_right(45),
cmd.forward(4),
cmd.left(2),
])
def plan_mission(mission):
mission.add_commands(
[
cmd.up(1.0),
cmd.forward(1),
cmd.left(2),
cmd.forward(4),
cmd.turn_left(45),
cmd.backward(sqrt(32)),
cmd.turn_right(45),
cmd.forward(4),
cmd.left(2),
]
)
def mission_setup(self, planner):
import quadrotor.command as cmd
# guess what this flightplan will do :)
commands = [
cmd.down(0.5),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(math.sqrt(2)),
cmd.turn_right(45),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(math.sqrt(0.5)),
cmd.turn_left(90),
cmd.forward(math.sqrt(0.5)),
cmd.turn_left(45),
cmd.forward(1),
cmd.turn_right(45),
cmd.backward(math.sqrt(2)),
cmd.turn_left(45),
cmd.forward(1),
]
planner.add_commands(commands)
def plan_mission(mission):
# this is an example illustrating the different motion commands,
# replace them with your own commands and activate all beacons
commands = [
cmd.up(1),
cmd.turn_right(degrees(atan(2))),
cmd.forward(sqrt(1 + 2**2)),
cmd.turn_right(degrees(atan(0.5)) + 45),
cmd.backward(sqrt(4**2 + 4**2)),
cmd.turn_left(45),
cmd.forward(4),
cmd.turn_left(degrees(atan(0.5))),
cmd.backward(sqrt(2**2 + 4**2)),
cmd.turn_left(degrees(atan(2))),
cmd.backward(2),
cmd.turn_right(90),
cmd.forward(2),
cmd.turn_left(45),
cmd.forward(sqrt(2**2 + 2**2)),
cmd.down(1)
]
mission.add_commands(commands)
def plan_mission(mission):
commands = [
cmd.down(0.5),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(sqrt(2)),
cmd.turn_right(45),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(sqrt(0.5)),
cmd.turn_left(90),
cmd.forward(sqrt(0.5)),
cmd.turn_left(45),
cmd.forward(1),
cmd.turn_right(45),
cmd.backward(sqrt(2)),
cmd.turn_left(45),
cmd.forward(1),
]
#mission.add_commands(commands)
myCommand = [
cmd.up(1),
cmd.right(2),
cmd.forward(5),
cmd.left(2),
cmd.backward(5),
cmd.left(2),
cmd.forward(5),
cmd.right(2),
cmd.turn_right(360),
cmd.backward(5),
cmd.turn_left(360),
cmd.down(1),
]
mission.add_commands(myCommand)
def plan_mission(mission):
commands = [
cmd.down(0.5),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(sqrt(2)),
cmd.turn_right(45),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(sqrt(0.5)),
cmd.turn_left(90),
cmd.forward(sqrt(0.5)),
cmd.turn_left(45),
cmd.forward(1),
cmd.turn_right(45),
cmd.backward(sqrt(2)),
cmd.turn_left(45),
cmd.forward(1),
]
#mission.add_commands(commands)
myCommand = [
cmd.up(1),
cmd.right(2),
cmd.forward(5),
cmd.left(2),
cmd.backward(5),
cmd.left(2),
cmd.forward(5),
cmd.right(2),
cmd.turn_right(360),
cmd.backward(5),
cmd.turn_left(360),
cmd.down(1),
]
mission.add_commands(myCommand)