private static void ProcessSegment(List <byte> results, Waypoint first, Waypoint second)
{
// -- Header -- //
/* Dimensions are swapped to account for difference between
* Unity and crazyflie coordinate systems
*/
BezierDegree xDegree = GetDegree(first, second, AxisType.Z);
BezierDegree yDegree = GetDegree(first, second, AxisType.X);
BezierDegree zDegree = GetDegree(first, second, AxisType.Y);
BezierDegree yawDegree = BezierDegree.Constant;
byte curveFormat = ByteUtils.Coalesce(yawDegree.Value(), zDegree.Value(), yDegree.Value(), xDegree.Value());
results.Add(curveFormat);
short duration = GetDuration(first, second);
ByteUtils.Pack(results, duration, true);
// -- Body -- //
PackControlPoints(results, first, second, AxisType.X, xDegree);
PackControlPoints(results, first, second, AxisType.Y, yDegree);
PackControlPoints(results, first, second, AxisType.Z, zDegree);
}
