?? d2ydt2taylor.m
字號:
%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL
function yrate=d2ydt2Taylor(vr,vl,t,b,Yd2)
%% This function calculate the drift rate from center line (x axis)
%% with Taylor approssimation
sr=vr*t;
sl=vl*t;
%% An essential assumption is here is that the initial drift rate
%% for the robot is 0
if(t==0)
yrate=Yd2(end);
else
yrate=(sr+sl)*(sr-sl)/(2*b*t^2);
end
end
?? 快捷鍵說明
復制代碼
Ctrl + C
搜索代碼
Ctrl + F
全屏模式
F11
切換主題
Ctrl + Shift + D
顯示快捷鍵
?
增大字號
Ctrl + =
減小字號
Ctrl + -