make minimum_travel_heading work #451
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SteveMacenski
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SteveMacenski
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Overall, I'm not sure this should be merged, but it is more technically correct. What's the issue you're running into this solves? I've typically found that updating a slam problem with pure rotation moves is a recipe for delocalization.
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Hi @SteveMacenski |
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Nice catch! I was facing some issues with this. Originally the minimum_travel_heading parameter existed but it was never used, which was misleading. Also, I think a separate parameter should not be necessary to disable this feature, since having it seems like the intended behavior. |
zengxiaolei
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make minimum_travel_heading work
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zengxiaolei
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zengxiaolei
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normalize HeadingDifference
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zengxiaolei
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normalize HeadingDifference
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Merged in another PR. Closing |
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