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8 lines
186 B
8 lines
186 B
9 years ago
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clear all;
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syms spd yaw real;
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syms R_spd R_yaw real;
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vx = spd*cos(yaw);
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vy = spd*sin(yaw);
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Tpc = jacobian([vx;vy],[spd;yaw]);
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R_polar = [R_spd 0;0 R_yaw];
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R_cartesian = Tpc*R_polar*Tpc';
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