Apply angle modulus to initial guess dtheta #467
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normalizes the range of dtheta to -pi,pi. making the number of guess points add due to a rotation from 5pi/6 to -5pi/6 is the same as a rotation from 0 to 2pi/6.
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Could you provide a before and after screenshot/video of a generated trajectory? |
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This affects path segments around initial guess waypoints and translational waypoints since those headings are not 'fixed' and wrapped. Current Behavior
Pull Request Behavior
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calcmogul
changed the title
calcmogul
approved these changes
Apr 26, 2024
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normalizes the range of dtheta to -pi,pi. Now, the number of guess points added due to a rotation from 5pi/6 to -5pi/6 is the same as a rotation from 0 to 2pi/6.