### Rigid body tracking vs Motion capture tracking

###### [04/06/2024]
#### Experiment 0:
In this experiment, I hide a number of markers of an unarmed stationary crazyflie with an object and observe the behaviour.
##### Observations:
##### Motion Capture Tracking with ICP:
1. When n<3 markers out of 5 markers are lost, keeps tracking the crazyflie without any complaints.
2. When 2<n<5 markers out of 5 markers are lost,
- **Warnings:**

        [motion_capture_tracking_node-1] [WARN] Dynamic check failed for rigidBody
        [motion_capture_tracking_node-1] [WARN] ICP did not converge! for rigidBody cf08
        [motion_capture_tracking_node-1] [WARN] No updated pose for cf08 for 0.004931 s.

- **Timestamps:** Keeps Updating.
- **Position:** Keeps tracking the crazyflie correctly.
- **Orientation:** Wrong.
- **Recovery:** Recovers once minimum 3 markers are visible again.
3. When all 5 markers are lost,
- **Warnings:**

        [motion_capture_tracking_node-1] [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
        [motion_capture_tracking_node-1] [WARN] ICP did not converge! for rigidBody cf08
        [motion_capture_tracking_node-1] [WARN] No updated pose for cf08 for 0.004931 s.

- **Timestamps:** Keeps Updating.
- **Position:** Wrong. Keeps tracking a nearby marker instead.
- **Orientation:** Wrong.
- **Recovery:** Never recovers even when all 5 markers reappear in the exact same location.

##### Rigid Body Tracking with Optitrack:
1. When n<3 markers out of 5 markers are lost, keeps tracking the crazyflie without any complaints.
2. When n>2 markers out of 5 markers are lost,
- **Warnings:**

        [optitrack_tf_node-1] [WARN] Not reporting 1 Object.

- **Timestamps:** Stops updating.
- **Position:** Stops updating.
- **Orientation:** Stops updating
- **Recovery:** Recovers once minimum 3 markers are visible again.
3. However, point to be noted, if there are any other identical rigid bodies in the arena, when n>2 markers out of 5 markers are lost for the original crazyflie, /tf will identify the identical rigid body as the original crazyflie and will keep tracking it.

<!-- ###### [06/06/2024]
#### Experiment 1: Speed Test
In this experiment, I send a few `discrete_waypoint_target` with a constant translational speed. I observe the behaviour for different translational speeds.
##### Translational Speed: 0.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.0 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.0 m/s
###### Run 1
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 2
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 3.0 m/s
###### Run 1
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 2
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 3
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 
-->

---
###### [20/06/2024]
#### Experiment 1: Single Agent Speed Test
In this experiment, I specify four corners of a rectangle and a constant translational speed. I observe the behaviour for different translational speeds.
##### Translational Speed: 0.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.0 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.0 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 3.0 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
| 

##### Translational Speed: 3.5 m/s
###### Run 1
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 2
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

---

###### [13/06/2024]
#### Experiment 1: Single Agent Speed Test
In this experiment, I send a few `discrete_waypoint_target` with a constant translational speed. I observe the behaviour for different translational speeds.
##### Translational Speed: 0.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.0 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 1.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.0 m/s
###### Run 1
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 2
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 2.5 m/s
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

##### Translational Speed: 3.0 m/s
###### Run 1
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 2
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### Run 3
Velocity Plot | Trajectory Plot
:-------------------------:|:-------------------------:
 | 

###### [05/06/2024]
##### Circle Trajectory with different velocities
1. cf08 circle trajectory at 0.5 m/s. Actual speed = 0.5 m/s
2. cf08 circle trajectory at 0.7 m/s. Actual speed = 0.65 m/s
3. cf08 circle trajectory at 1.0 m/s. Actual speed = 0.75 m/s
4. cf08 circle trajectory at 1.2 m/s. Avtual speed = 0.74 m/s
5. cf08 circle trajectory at 1.5 m/s. Actual speed = 0.68 m/s