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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'; |
