Revision 1802 branches/16299_s10/matlab/motionModel.m

motionModel.m (revision 1802)
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for i=1:numRobots,


  		
  




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	wheels =  inverseTransform * [v(i); omega(i)];


  		
  




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	wheels = min(wheels, wheelMax);


  		
  




  
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    wheels = inverseTransform * [v(i); omega(i)];


  		
  




  
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    wheels = min(wheels, wheelMax);


  		
  




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	wheels = max(wheels, wheelMin);


  		
  




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	q = transform * wheels;


  		
  




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	v(i) = q(1);


  		
  












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