variable iyaw

[fsxy1063200037]

hi，when I run your code, the value of the variable iyaw is always zero, this should be a problem, how can I correct it?

[HandsomeDragon3]

hi，when I run your code, the value of the variable iyaw is always zero, this should be a problem, how can I correct it?
Yaw is relative to xy frame, and the given reference line is too flat.
You should change the trace of given path to see the change of yaw!

[fangedward]

iyaw and yaw are different in this case. Look at the code in FrenetPath.cpp and FrenetPath.h. iyaw refers to the yaw of the spline at the current position of the ego-vehicle, while yaw refers to the yaw of the ego-vehicle. @HandsomeDragon3 is correct, you can change the reference trajectory to see a difference in yaw.