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Make swerve headings wrap #54

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Make swerve headings wrap #54

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5 changes: 4 additions & 1 deletion src/optimization/SwerveTrajoptUtil.inc
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,10 @@ void ApplyKinematicsConstraints(
auto alpha_n = alpha.at(idx);
opti.SubjectTo(x_n_1 + vx_n * dt_sgmt == x_n);
opti.SubjectTo(y_n_1 + vy_n * dt_sgmt == y_n);
opti.SubjectTo(theta_n_1 + omega_n * dt_sgmt == theta_n);
opti.SubjectTo(cos(theta_n_1 + omega_n * dt_sgmt) == // NOLINT
cos(theta_n)); // NOLINT
opti.SubjectTo(sin(theta_n_1 + omega_n * dt_sgmt) == // NOLINT
sin(theta_n)); // NOLINT
opti.SubjectTo(vx_n_1 + ax_n * dt_sgmt == vx_n);
opti.SubjectTo(vy_n_1 + ay_n * dt_sgmt == vy_n);
opti.SubjectTo(omega_n_1 + alpha_n * dt_sgmt == omega_n);
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