Revision 1709
fixed typos with matlab code
| branches/16299_s10/matlab/motionModel.m | ||
|---|---|---|
| 1 |
function [x', y', theta', phi'] = motionModel(motorL, motorR,x,y,theta,phi,dt)
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function [x, y, theta, phi, state] = motionModel(motorL, motorR,xold,yold,thetaold,phiold,dt, state)
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| 2 | 2 |
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| 3 | 3 |
disp "Function Unimplemented!" |
| 4 | 4 |
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| branches/16299_s10/matlab/evolveRobots.m | ||
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| 15 | 15 |
Thetas = zeros(n,1); |
| 16 | 16 |
Phis = zeros(n,1); |
| 17 | 17 |
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% These state variables allow the models to maintain some state across calls |
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motorState = []; |
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sensorState = []; |
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| 18 | 22 |
% Run through each timestep |
| 19 | 23 |
for t = 0:dt:tf |
| 20 | 24 |
% update the true positions using the motor model |
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[X, Y, Theta, Phi] = motionModel(MotorL, MotorR, X, Y, Theta, Phi, dt);
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[X, Y, Theta, Phi, motorState] = motionModel(MotorL, MotorR, X, Y, Theta, Phi, dt, motorState);
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| 22 | 26 |
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| 23 | 27 |
% Update the sensor values using the sensor model |
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[Xs, Ys, Thetas, Phis] = sensorModel(X, Y, Theta, Phi);
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[Xs, Ys, Thetas, Phis, sensorState] = sensorModel(X, Y, Theta, Phi, sensorState);
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| 25 | 29 |
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| 26 | 30 |
%TODO: at some point, out controller will go here |
| 27 | 31 |
end |
| branches/16299_s10/matlab/sensorModel.m | ||
|---|---|---|
| 1 |
function [x', y', theta', phi'] = sensorModel(x,y,theta,phi)
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| 1 |
function [x, y, theta, phi, state] = sensorModel(xold,yold,thetaold,phiold,state)
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| 2 | 2 |
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| 3 | 3 |
disp "Function Unimplemented!" |
| 4 | 4 |
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