?? leftwheelloc.m
字號:
%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL
function leftpos=LeftWheelLoc(position,bw)
%% this function calculate the left wheel position of the robot
theta=position(3);
lx=position(1)+bw/2*cos(theta+pi/2);
ly=position(2)+bw/2*sin(theta+pi/2);
leftpos=[lx,ly];
end
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