added fixed interval smoothing
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@@ -87,6 +87,9 @@ public:
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// update the old heading and the other old values
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//p.state.walkState.heading = p.state.heading;
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if(!(p.state.pOld == p.state.pCur)){
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p.state.cumulativeHeading = Angle::getDEG_360(p.state.pOld.x, p.state.pOld.y, p.state.pCur.x, p.state.pCur.y);
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}
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p.state.pOld = p.state.pCur;
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