Unexpected behavior on almost straight ahead motions

JaciBrunning / Pathfinder

Cross-Platform, Multi-Use Motion Profiling and Trajectory Generation

MIT License

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Unexpected behavior on almost straight ahead motions #68

Closed robertlucyshyn closed 5 years ago

robertlucyshyn commented 5 years ago

Hi,

I have found unexpected behavior for trajectories that are almost straight ahead.

For example with two waypoints, one at Waypoint(0,0,0) and the the around Waypoint(0.5, 6.0, 0), I'm getting the following motion profile in x (horizontal) and y (vertical):

Why does is oscillate so much in x? Note that both initial and final settings at 0 degrees which for us means straight ahead. Is this due to a parameter setting? Is there a way for the motion to oscillate less?

robertlucyshyn commented 5 years ago

Actually, I just realized that this problem is most likely because Pathfinder interprets heading as angle to the x axis and my formulation is treating it as yaw from the y axis.