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

Function Documentation

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

Normalize the yaws between points on the basis of goal angle.

Parameters:

goal_yaw – Goal yaw angle.
yaw_between_points – Yaw angles calculated between x and y coordinates of the trajectories.

Returns:

Normalized yaw between points