Revision 1797
fixed vis, quieted motion model, made moving the queen work
motionModel.m | ||
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15 | 15 |
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16 | 16 |
wheels = inverseTransform * [v(i); omega(i)]; |
17 | 17 |
wheels = min(wheels, wheelMax); |
18 |
wheels = max(wheels, wheelMin) |
|
19 |
q = transform * wheels |
|
18 |
wheels = max(wheels, wheelMin);
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|
19 |
q = transform * wheels;
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|
20 | 20 |
v(i) = q(1); |
21 | 21 |
omega(i) = q(2); |
22 | 22 |
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