ackerman.py 文件源码

def ackerman_model(x, u, L, dt):
    """Ackerman model

    Parameters
    ----------
    x :

    u :

    L :

    dt :


    Returns
    -------

    """
    g1 = x[0] + u[0] * cos(x[2]) * dt
    g2 = x[1] + u[0] * sin(x[2]) * dt
    g3 = x[2] + ((u[0] * tan(x[2])) / L) * dt

    return np.array([g1, g2, g3])