Revision 1802
moved everything into code
motionModel.m | ||
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13 | 13 |
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14 | 14 |
for i=1:numRobots, |
15 | 15 |
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16 |
wheels = inverseTransform * [v(i); omega(i)];
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17 |
wheels = min(wheels, wheelMax);
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16 |
wheels = inverseTransform * [v(i); omega(i)];
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17 |
wheels = min(wheels, wheelMax);
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18 | 18 |
wheels = max(wheels, wheelMin); |
19 | 19 |
q = transform * wheels; |
20 | 20 |
v(i) = q(1); |
Also available in: Unified diff