Re: [ompl-users] Basic Geometry for OMPL

[Mark M. <mm...@ri...>]

Hi Savaş,

Yaw is measured in radians, so the opposite direction of 0 is pi.

Best,

Mark



> On Feb 19, 2021, at 3:56 AM, Savaş Öztürk <sav...@gm...> wrote:
> 
> First things first, I would like to express my deepest gratitude for this excellent contribution. OMPL is a great solution for robotics planning. 
> But I couldn't find anything about the limits for orientation(rotation) parameters. For example, for SE2StateSpace, I couldn't resolve setYaw() method's usage so far. What type of parameter (angle, distance, ...) should I enter? When I plot the coordinates, I see that yaw is 0 when robots face is looking at the right? If I enter an angle like 45 degrees no solution is found. I enter the values like 1, -1 and assume the direction.  But I don't know how to assign an opposite yaw to zero. If would appreciate if you recommend me a guide to understand OMPL Geometry well. 
> Thanks in advance. 
> Savaş Öztürk
> 
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