Specifying Yaw Angle - Githubissues

We currently only control x,y,z but not yaw (the rotation around z). Right now yaw is just set to stay at a constant value.

Motivation

I think someone mentioned that Mike briefly asked about being able to control the orientation
It would be cool to have trajectories with drones that spin!
- May make circles look more natural if the 'eyes' are always pointing in the tangent direction

Approach

The traditional approach is to have PointDims = 4 and specify yaw alongside 3d coordinates
- The inevitable change of https://github.com/dennisss/tansa/blob/master/include/tansa/trajectory.h#L15
- AKA change all instances of [x, y, z] in data files to [x, y, z, yaw]
On the primitives/trajectories side this should be an easy change as everything is parameterized in terms of number of dimensions
For specifying in a file, we should consider making the yaw an optional parameter, and if one is not specified it should just use the previous value or some global default if no previous one was specified

dennisss / tansa