Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Quadcopter path planning with only 3DOF in Translation

I am working on test moveit with quadcopter. I just use a sphere shape to represent the quad in planning scene and use a virtual joint (floating) to do planning.

However, I want to speed up the planning so I am thinking instead of using 6DOF state space, can I just use 3 DOF (just translation) to generate trajectory? Do I need to modify the moveit source code to realize it?