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MatthewPeterKelly / OptimTraj

A trajectory optimization library for Matlab
MIT License
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corrected id of rad2deg conversion #44

Closed cjmcgreal closed 3 years ago

cjmcgreal commented 3 years ago

Issue was in the plotting. Specifically the conversion of the angular states from radians to degrees. The conversion was unintentionally set to include the Z position states (as opposed to the angular states only). It also explains why setting the initial Z position as non-zero yielded unexpected results.

In summary, the correction addresses both of the issues @pedropereira97 brought up.

MatthewPeterKelly commented 3 years ago

Good find! Thanks for fixing this. I agree that this should fix both issues observed in #43.