thesis/diffdrive_to_uni.m

function u_ = diffdrive_to_uni(u, sim_data)
    u_ = [sim_data.r/2, sim_data.r/2 ; sim_data.r/sim_data.d, -sim_data.r/sim_data.d] * u;
end
extend unicycle to differential drive 2024-07-31 09:47:09 +02:00			`function u_ = diffdrive_to_uni(u, 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			`u_ = [sim_data.r/2, sim_data.r/2 ; sim_data.r/sim_data.d, -sim_data.r/sim_data.d] * u;`
extend unicycle to differential drive 2024-07-31 09:47:09 +02:00			`end`