2024-07-31 09:47:09 +02:00
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function dq = sistema_discr(t, q, u_discr, sim_data)
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2024-07-31 21:21:01 +02:00
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theta = q(3);
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2024-09-06 15:49:04 +02:00
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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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% W*u
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Wu = diffdrive_to_uni(u_discr, sim_data);
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dq = T_q*Wu;
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2024-07-14 15:16:05 +02:00
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end
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