thesis/sistema_discr.m

function dq = sistema_discr(t, q, u_discr, sim_data)
    theta = q(3);
    G_q = [cos(theta), 0; sin(theta), 0; 0, 1];
    dq = G_q*diffdrive_to_uni(u_discr, sim_data);
end
extend unicycle to differential drive 2024-07-31 09:47:09 +02:00			`function dq = sistema_discr(t, q, u_discr, sim_data)`
optimization: collapse function calls into sistema_discr at the expense of "modularity" but don't really need it at this point 2024-07-31 21:21:01 +02:00			`theta = q(3);`
			`G_q = [cos(theta), 0; sin(theta), 0; 0, 1];`
			`dq = G_q*diffdrive_to_uni(u_discr, sim_data);`
simulate system in discrete time 2024-07-14 15:16:05 +02:00			`end`