Function mppi::utils::normalize_yaws_between_points(const Eigen::Ref<const Eigen::ArrayXf>&, const Eigen::Ref<const Eigen::ArrayXf>&)

• Defined in File utils.hpp

Function Documentation

inline auto mppi::utils::normalize_yaws_between_points(const Eigen::Ref<const Eigen::ArrayXf> &last_yaws, const Eigen::Ref<const Eigen::ArrayXf> &yaw_between_points)

Normalize the yaws between points on the basis of final yaw angle of the trajectory.

Parameters:

• last_yaws – Final yaw angles of the trajectories.

• yaw_between_points – Yaw angles calculated between x and y coordinates of the trajectories.

Returns:

Normalized yaw between points.