Revision 1811
fixed comment
branches/16299_s10/matlab/motionModel.m | ||
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12 | 12 |
transform = [ R/2 R/2; -R/L R/L]; |
13 | 13 |
inverseTransform = inv(transform); |
14 | 14 |
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15 |
//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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16 | 16 |
for i=1:numRobots, |
17 | 17 |
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18 | 18 |
wheels = inverseTransform * [v(i); omega(i)]; |
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