search

UBCSailbot / raye-local-pathfinding

UBC Sailbot's Local Pathfinding Repository: OMPL-based pathfinding that avoids upwind/downwind sailing, minimizes turning, and minimizes path length.
https://www.ubcsailbot.org/
MIT License
2 stars 0 forks source link

Update angle bounding and conventions #298

Closed patrick-5546 closed 2 years ago

patrick-5546 commented 2 years ago

Numerous updates related to angle bounding and conventions that arose during yesterday's dry land testing

  1. Replace boundIn0To360(num) with (num) % 360
  2. Bound the exponentially weighted moving average for angles in [0, 360)
  3. Convert wind sensor direction conventions to our software's conventions: the wind sensors identify the direction wind is coming from (e.g., 180 is downwind) whereas our software expects the direction wind is going to (e.g., 0 is downwind)