Revision 1811 branches/16299_s10/matlab/motionModel.m
| motionModel.m (revision 1811) | ||
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transform = [ R/2 R/2; -R/L R/L]; |
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inverseTransform = inv(transform); |
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//Transforms from v, omega into wheel speed, limits wheel speed and adds noise, then translates back. |
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% Transforms from v, omega into wheel speed, limits wheel speed and adds noise, then translates back. |
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for i=1:numRobots, |
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wheels = inverseTransform * [v(i); omega(i)]; |
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