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issues about file "FourWheelSteering.m"

Open iDonghq opened this issue 5 years ago • 0 comments

Thanks to your wonderful work for these model, but I am a bit confused about "function [wheelSpeeds,steerAngles] = inverseKinematicsZeroSideslip(obj,vx,w)", in this function "phi = atan(w*(obj.frontWheelDist+obj.rearWheelDist)/vx)", I found that "phi = atan(w*(obj.frontWheelDist+obj.rearWheelDist)/(2*vx))" by using Selection_005 Could you help me explain it? thank you very much.

iDonghq avatar Feb 08 '20 03:02 iDonghq