Some of the spots picked for testing the planning algorithms. The waypoints labeled as "optional" require additional effort in the planner as they involve flying over obstacles.
Note that these locations do not reflect reality and you should absolutely not every try to fly your drone there in real life.
A junction just around the corner of the starting location. This should help testing the planner quickly, as planning long distances still takes a while on the grid. The altitude is just the default target altitude of the starter code.
This spot should be trivially reachable even at low altitudes.
This spot requires flying over a low building. At an altitude of 10 m, it should be reachable.
This spot is over a lake surrounded by trees. While it should be reachable at reasonable altitudes, the safety margin to the surrounding trees may render this position impossible to plan a path to.
This spot is in a backyard fully enclosed by a building. In order to get here, the drone needs to fly at an altitude of about 70 meters.
colliders.txt
is incorrectly showing the backyard to be openly accessible. If we try,
the drone crashes into the southern one of the thin walls (the upper one in the image).
Note that this position is just next to the starting location and shows the simulator bug mentioned in README.md (the long, flat building in the upper right quarter of the image, right on top of Market Street).
When visiting each waypoint, this spot is reasonably close to the previous building. Depending on how we design the cost for flying at high(er) altitudes, the planner may either choose to stay high, then go down (passing over some buildings), or go low and follow along at street level. If we skip the "optional" waypoints it is just south of the first waypoint, and the drone needs to only bypass some high-storied buildings.
