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Treat robot heading as a manifold (cos/sin unit vector) #200
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shueja
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calcmogul
suggested changes
Jun 22, 2024
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| problem.SubjectTo(theta_diff_cos * sleipnir::sin(omega_n * dt_sgmt) == | ||
| theta_diff_sin * sleipnir::cos(omega_n * dt_sgmt)); |
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This SubjectTo() line could use a derivation in a comment. I assume it's something like the arctangents of the two angles being equal, then rearranged to use just cosine and sine, and avoid division.
Co-authored-by: Tyler Veness <[email protected]>
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Does this PR supersede #191? |
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Yes, due to the refactors breaking mergeability. |
calcmogul
approved these changes
Jun 22, 2024
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