Computing Vehicle.state.yaw

[rodrigoqueiroz]

Issues

• Currently, the way Vehicle.state.yaw is computed is as follows (from compute_vehicle_state() in Vehicle.py):

  ...
  self.state.x_vel = x_vector[1]
  ...
  self.state.y_vel = y_vector[1]
  ...
  heading = np.array([y_vector[1], x_vector[1]])
  if self.reversing:
  heading *= -1
  self.state.yaw = math.degrees(math.atan2(heading[1], heading[0]))

  1. Using the vehicle's velocity to compute the yaw becomes a problem when the vehicle isn't moving, or is slowing down (maybe in other cases also?)
• This is a problem for the simulation, in particular, which is using the yaw to change the orientation of the gss vehicle actors