Function heading_error

Function Documentation

float heading_error(double yaw_desired, double yaw_current)

Calculate the heading error between the current and desired yaw angles.

This function computes the heading error between the desired and current yaw angles.

Parameters:

yaw_desired – The desired yaw angle (in radians) based on the look-ahead point. [-π, π].
yaw_current – The current yaw angle (in radians). [-π, π].

Returns:

The heading error (in radians), normalized to be within the range of -π to π.