The sampler module is implemented in agilib/src/sampler/. It takes care of taking a trajectory and transforming it into a sequence of setpoints that can be tracked by a controller. There are two types:

  • time_based: It tracks a trajectory in the time domain. It uses the time allocation of the original trajectory to extract setpoints.

  • position_based: From the current state of the drone, it searches the closest point to the trajectory and starts the sampling from there.