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# Purposed Algorithm Pipeline:
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[@shibohan Note to Self: Keep up-to-date]
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## Class Structure:
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- Create skeleton Class structure
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- How classes interacts?
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- Determine public interface/fields
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- Need runner thread?
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## Stages:
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### Collect & Evaluation
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- Process lidar data:
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- Want sector data (e.g. per 1 degree) OR raw data?
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- Need speed correction? (consider vehicle speed and lidar scan cycle timespan)
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- Need orientation correction? (consider drone's incline angle)
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- Unified unit for data? (e.g. m/cm/mm)
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- Data filtering and post-processing
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- Need intermediate data storage?
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- Process RSC data:
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- TODO
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- Process CNC data? (e.g. vehicle speed, altitude)
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- TODO
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- What's the precondition for this algorithm to run?
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### Planning
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- Pure algorithmic stage
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- Add summaries of major steps here.
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- Can those steps be developed at the same time? (e.g. maybe fake out some data using unittest)
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- Can those steps run at the same time? (or decomposite e.g. 360 degree into 3*120 degree parallel)
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- Results to instruction for drone
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- Possible PID utility
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- Perhaps using gain/weight?
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- Algorithm specific
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- Generate Command Queue:
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- List commands you need (e.g. Something simple like: goto relative position, change altitude. Something complex like: wait until arrive at)
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- Will planned command queue have Delay commands?
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- Generate Data Queue:
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- Rules for confidence
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- Any additional data you want OAC to know? (e.g. in the future: display a msg on debug overlay)
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- Feed results back to OAController
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### Execution
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- Handled by OAC
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- Do you need to monitor the execution? |
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\ No newline at end of file |
