thesis/diffdrive.m

function dq = diffdrive(t, q, u_discr, sim_data)
    theta = q(3);
    %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;
end
big refactor of branches into a single codebase using flags to switch between tests and robot types 2024-09-11 19:34:41 +02:00			`function dq = diffdrive(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);`
sistema_discr: better comments 2024-09-06 15:49:04 +02:00			`%dq = T(q)Wu`

			`% 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;`
simulate system in discrete time 2024-07-14 15:16:05 +02:00			`end`