Revision 1821
Individual Wheel Speeds
sensorModel.m | ||
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19 | 19 |
% TODO: model encoder error? |
20 | 20 |
% Use the lagged values for position |
21 | 21 |
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noise = noise + encoderNoise .* (encoderNoiseVar * abs(randn(2, n))); |
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23 | 22 |
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noise = noise + (encoderNoise .* (encoderNoiseVar * abs(randn(2, n))) ./ wheels); |
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24 | 24 |
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R = 3.5; |
26 | 27 |
L = 12.75; |
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28 | 29 |
transform = [ R/2 R/2; -R/L R/L]; |
29 | 30 |
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for i=2:n, |
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wheels = wheels + noise(:, i); |
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q = transform * wheels; |
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wheels(:, i) = wheels(:, i) + noise(:, i) ; |
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q = transform * wheels(:, i); |
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34 | 38 |
v(i) = q(1); |
35 | 39 |
omega(i) = q(2); |
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% disp(wheels) |
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36 | 41 |
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end |
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disp(wheels) |
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39 | 46 |
xSensor = xoldSensed; |
40 | 47 |
ySensor = yoldSensed; |
41 | 48 |
thetaSensor = thetaoldSensed; |
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