9 lines
181 B
Matlab
9 lines
181 B
Matlab
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function dq = unicycle(t, q, u_discr, sim_data)
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theta = q(3);
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%dq = T(q)*W*u
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% T_q (unicycle)
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T_q = [cos(theta), 0; sin(theta), 0; 0, 1];
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dq = T_q*u_discr;
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end
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