petercorke / robotics-toolbox-matlab

Robotics Toolbox for MATLAB
GNU Lesser General Public License v2.1
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Bug sl_drivepose.slx #88

Open fafux opened 4 years ago

fafux commented 4 years ago

Good morning, I am using the sl_drivepose.slx to drive a bicycle model to a desired pose starting from an initial pose. I found out that if I define the initial pose with PI as yaw angle the algorithm diverges. Attached there is an example with initial pose x0 = [0, 0, 3.1416] and desired final pose xg = [-2, 0, 3.1416]. Screenshot from 2020-08-06 12-35-55

petercorke commented 4 years ago

run rvccheck. Likely you have MathWorks robotics toolbox installed, it clashes some of my functions, in particular angdiff which causes this