| >>When you say "which nodes are rotationally reachable", what does that imply for formations? Here, position is essential, while SpinStep is orientational. Each node (e.g., drone) is assigned a target slot in space. Movement is needed — so SpinStep alone wouldn’t currently manage this. It might help decide orientation steps, but not positional navigation or collision avoidance. Possibilities Going Forward: We could extend SpinStep toward SE(3) traversal, or write a complementary module. That would involve: -Pairing quaternions with positional vectors -- which is an awesome upgrade to the SpSt library. -Defining a traversal condition based on both angular distance and spatial proximity. -Possibly adding constraints (like occupied/available slots) and collision checks. Such an approach could lead to a formation coordinator, where: -Each drone is a node. -Target positions + orientations define “goal nodes.” -You route through “pose-space” rather than just physical space. I'm a little swamped right now. In the days ahead i will be taking a closer look at how to integrate SpinStep with Ketu. It's gonna be fun. All the best! |