def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relative = True, groupMask = 0):
if self._isGroup(groupMask):
traj = self.trajectories[trajectoryId]
# if traj is also current traj, must take pos before changing t_begin.
pos = self._vposition()
traj.t_begin = self.time()
traj.timescale = timescale
if relative:
traj.shift = firm.vzero()
if reverse:
traj_init = firm.piecewise_eval_reversed(traj, traj.t_begin)
else:
traj_init = firm.piecewise_eval(traj, traj.t_begin)
traj.shift = firm.vsub(pos, traj_init.pos)
else:
traj.shift = firm.vzero()
firm.plan_start_trajectory(self.planner, traj, reverse)
def startTrajectory(self,
trajectoryId,
timescale=1.0,
reverse=False,
relative=True,
groupMask=0):
if self._isGroup(groupMask):
self.mode = Crazyflie.MODE_HIGH_POLY
traj = self.trajectories[trajectoryId]
traj.t_begin = self.time()
traj.timescale = timescale
if relative:
traj.shift = firm.vzero()
if reverse:
traj_init = firm.piecewise_eval_reversed(
traj, traj.t_begin)
else:
traj_init = firm.piecewise_eval(traj, traj.t_begin)
traj.shift = firm.vsub(self.state.pos, traj_init.pos)
else:
traj.shift = firm.vzero()
firm.plan_start_trajectory(self.planner, traj, reverse)