thesis/sistema_discr.m

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