PR #739 for Kinetic #821
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PR #739 for Kinetic #821
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…#739) * feat(orientation_filter): Added additional orientation filter options Enables plan references with different orientations for omni-base controllers. The following options are added: - Backward (backward path traversal, pose points to previous point) - Leftward (lateral path traversal in the positive y direction) - Rightward (lateral path traversal in the negative y direction) * Updated orientation filter option description * Added window size parameter to orientation filter Previously, the orientation was calculated using the current and the next point. However, when the path is somewhat jumpy, this results in poor orientations. By adding this parameter and altering the orientation calculation, the calculated orientation can be smoothened along the path by taking into account a larger window. The orientation of index point i will be calculated using the positions of i - window_size and i + window_size.
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Fixes #820