20200413 开会
老王的想法是把之前用的状态转移叠加到下一时刻,那么就需要对镜像机的路径进行一定的规划。
这样同时会出现一些问题，当然飞不稳是一定的了，这之后确实又要好好捋一捋程序之间的调用关系。
- 0413下午整理下思路
搞清楚了键盘控制飞行器的控制思路，the type of control data like this:
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header: seq: 1012 stamp: secs: 471 nsecs: 780000000 frame_id: "rotors_joy_frame" roll: 0.0 pitch: -0.0 yaw_rate: 0.785398163397 thrust: x: 0.0 y: 0.0 z: 23.5356974602
after this we can use this data type to send control data.
0413-21.43 we use control paras (such as rpyt)to control the UAV in simulation env.
0414-10.30 we finished collecting the control data we need about 13 paras and get a pretrain model later, then we will try to use model to predict the action in simulation env.
VIM进阶
- 使用
宏功能对重复任务来说是十分便利的，关键点在于重复动作记得定位要准确。1 2 3 4
> qa recording the action i do > follow your heart doing what i want to do,which is most important is that this work should continue step by step. > q finish recording > n@a continue n times
Tab标签功能被我改成了leader+n快捷键，类似于tmux的一个session，多文件编辑是个利器，不过不是同一平面可能浏览起来不是那么便利。