16 lines
401 B
Matlab
16 lines
401 B
Matlab
function [x_new, y_new, theta_new] = moveCar(x, y, theta, dtheta)
|
|
%MOVECAR updates car's position based on previous state
|
|
% Detailed explanation goes here
|
|
|
|
global Speed_mag;
|
|
global Ts;
|
|
|
|
|
|
% Stear and then calculate the new position
|
|
theta_new = theta + dtheta;
|
|
|
|
x_new = x + Speed_mag * Ts * cos(toRadians("degrees", theta_new));
|
|
y_new = y + Speed_mag * Ts * sin(toRadians("degrees", theta_new));
|
|
|
|
end
|