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tesi: fix output position vector

master
EmaMaker 2024-09-13 20:29:18 +02:00
parent ace9febb52
commit db2f6f1241
1 changed files with 1 additions and 1 deletions
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tesi.m
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@ -149,7 +149,7 @@ function [t, q, y, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = sim
y1 = q(:, 1) + sim_data.b * cos(q(:,3)); y1 = q(:, 1) + sim_data.b * cos(q(:,3));
y2 = q(:, 2) + sim_data.b * sin(q(:,3)); y2 = q(:, 2) + sim_data.b * sin(q(:,3));
y = [y; y1, y2]; y = [y; [y1, y2]];
end end
ref_t = double(subs(sim_data.ref, t'))'; ref_t = double(subs(sim_data.ref, t'))';