How to specify drone heading direction during waypoints navigation?

[astergia7]

Greetings! First of all, thank you for your excellent research and development work! I understand that this repository is rarely visited nowadays, but I still hope to get some guidance regarding my question.

I am building a simulation where a drone navigates through waypoints using rpg_quadrotor_control, and the frontal plane of the drone, with its camera, must remain perpendicular to the generated trajectory. Is it possible to achieve this with the existing methods? I noticed that there are trajectory generation helpers, such as heading_trajectory_helper, but it seems I cannot use them with polynomial_trajectories. I can generate quadrotor_common::Trajectory using the helpers, but I am unable to utilize it further. Am I missing something?