Question for SFC3D

[923047247]

作者您好，关于SFC3D部分，我有一些问题想跟您请教：

1. 在LineSegment.m函数中，第39-42行的含义您能讲解一下吗？我所理解的是在第38行中dir是直线的方向向量，而39行中的dir_h应该是切平面的法向量，它应该是平行于dir的？并且切点pp1等应该是 最大椭球与障碍物相切的切点，为什么要用例如第46行这样的表达去计算呢？
2. 在LineSegment.m函数中，第89-140行应该是将初始椭球体进行压缩的过程，而在第94-97行，122-125行中是计算y和z轴的压缩，但是我并没有看懂为什么要这样去做？您方便提供一下原理图或者资料吗？

[LenaShengzhen]

dir_h is perpendicular to dir.

For information, please see this paper: "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments" There is also SFC code for C++ implementation in the paper.

[923047247]

Thank you so much, in paper: "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments". Is the variable "aj " the normal vector of tangent ?

[923047247]

Hello，in paper: "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments" . After calculating SFC, we can get matrices A and b, which can be added as inequality constraints in Minimum-Snap. In paper, p is the coordinate of the point in the inequality constraint Ap < b，while in the Minimum-Snap, Ax < b, x is a polynomial parameter. How do you do the intermediate transformation?

[ZYS98]

dir_h is perpendicular to dir.

For information, please see this paper: "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments" There is also SFC code for C++ implementation in the paper.

Is it the exact same implementation, but then in Matlab and in a 2D environment?