Prepare-To-Add-an-Algorithm-Checklist.md

+# Purposed Algorithm Pipeline:
+
+[@shibohan Note to Self: Keep up-to-date]
+
+## Class Structure:
+- Create skeleton Class structure
+  - How classes interacts?
+  - Determine public interface/fields
+  - Need runner thread?
+
+## Stages:
+### Collect & Evaluation
+- Process lidar data:
+  - Want sector data (e.g. per 1 degree) OR raw data?
+  - Need speed correction? (consider vehicle speed and lidar scan cycle timespan)
+  - Need orientation correction? (consider drone's incline angle)
+  - Unified unit for data? (e.g. m/cm/mm)
+  - Data filtering and post-processing
+  - Need intermediate data storage?
+- Process RSC data:
+  - TODO
+- Process CNC data? (e.g. vehicle speed, altitude)
+  - TODO
+- What's the precondition for this algorithm to run?
+
+### Planning
+- Pure algorithmic stage
+  - Add summaries of major steps here.
+  - Can those steps be developed at the same time? (e.g. maybe fake out some data using unittest)
+  - Can those steps run at the same time? (or decomposite e.g. 360 degree into 3*120 degree parallel)
+  - Results to instruction for drone
+    - Possible PID utility
+    - Perhaps using gain/weight?
+    - Algorithm specific
+- Generate Command Queue:
+  - List commands you need (e.g. Something simple like: goto relative position, change altitude. Something complex like: wait until arrive at)
+  - Will planned command queue have Delay commands?
+- Generate Data Queue:
+  - Rules for confidence
+  - Any additional data you want OAC to know? (e.g. in the future: display a msg on debug overlay)
+- Feed results back to OAController
+
+### Execution
+- Handled by OAC
+- Do you need to monitor the execution?
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