Commit 33ed3597 authored by MatthiasAlthoff's avatar MatthiasAlthoff

updated to version 2019a

parent b7933eb3
......@@ -23,6 +23,7 @@ function f = vehicleDynamics_ST(x,u,p)
% Author: Matthias Althoff
% Written: 12-January-2017
% Last update: 15-December-2017
% 03-September-2019
% Last revision:---
%------------- BEGIN CODE --------------
......@@ -52,7 +53,7 @@ if abs(x(4)) < 0.1
%system dynamics
f(1:5,1) = vehicleDynamics_KS(x(1:5),u,p);
f(6,1) = u(2)*lwb*tan(x(3)) + x(4)/(lwb*cos(x(3))^2)*u(1);
f(6,1) = u(2)/lwb*tan(x(3)) + x(4)/(lwb*cos(x(3))^2)*u(1);
f(7,1) = 0;
else
......
......@@ -28,7 +28,8 @@ def vehicleDynamics_ST(x,uInit,p):
# Author: Matthias Althoff
# Written: 12-January-2017
# Last update:16-December-2017
# Last update: 16-December-2017
# 03-September-2019
# Last revision:---
#------------- BEGIN CODE --------------
......@@ -73,7 +74,7 @@ def vehicleDynamics_ST(x,uInit,p):
x_ks = [x[0], x[1], x[2], x[3], x[4]]
f_ks = vehicleDynamics_KS(x_ks,u,p)
f = [f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4],
u[1]*lwb*math.tan(x[2]) + x[3]/(lwb*math.cos(x[2])**2)*u[0],
u[1]/lwb*math.tan(x[2]) + x[3]/(lwb*math.cos(x[2])**2)*u[0],
0]
else:
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment