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Revision 1810

Added by Chase Brownell almost 14 years ago

Adds noise to wheel speeds

View differences:

branches/16299_s10/matlab/motionModel.m
7 7 

  		




  8
  8
  
    
R = 2.5;


  		




  9
  9
  
    
L = 12;


  		




  
  10
  
    
noise = .5;


  		




  10
  11
  
    

  		




  11
  12
  
    
transform = [ R/2 R/2; -R/L R/L];


  		




  12
  13
  
    
inverseTransform = inv(transform);


  		




  13
  14
  
    

  		




  
  15
  
    
//Transforms from v, omega into wheel speed, limits wheel speed and adds noise, then translates back.


  		




  14
  16
  
    
for i=1:numRobots,


  		




  15
  17
  
    
	


  		




  16
  18
  
    
    wheels = inverseTransform * [v(i); omega(i)];


  		




  17
  
  
    
    wheels = min(wheels, wheelMax);


  		




  18
  
  
    
	wheels = max(wheels, wheelMin);


  		




  
  19
  
    
    wheels = min(wheels, wheelMax) + noise * (rand - .5); 


  		




  
  20
  
    
	wheels = max(wheels, wheelMin) + noise * (rand - .5);


  		




  19
  21
  
    
	q = transform * wheels;


  		




  20
  22
  
    
	v(i) = q(1);


  		




  21
  23
  
    
	omega(i) = q(2);


  		












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