Comments (1)
Roughly speaking, such a workaround will work, but not perfectly.
There are two main reasons. First, yaw trajectory requires optimization on SO(2) instead of R. Otherwise, weird turning occurs when a major arc is predetermined by a trajectory on R. Second, trajectory optimization on a group needs a more flexible optimization framework such that the gradient on a group can be explicitly defined. This is obviously not supported by this repo which is not a gradient-based solver. Actually, this repo is deprecated due to its lack of flexibility.
For multicopter trajectory planning, the new repo GCOPTER is recommended (https://github.com/ZJU-FAST-Lab/GCOPTER). The methodology in this new repo supports almost any constraint which is convenient for optimization on SO(2). Unfortunately, according to our plan, it has not been open-sourced yet. Thus I think I will give a better yaw optimization scheme when this new repo is released.
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