Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
Rotations are another problem for some path planners. It can be difficult to rotate during motion, thus some will not rotate, some will rotate only at certain 'safe' points, and some will rotate along a complete path. The best scenario is when rotations may be performed to avoid collisions, and not just to meet the orientation of the goal state.
