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Unread 05-10-2013, 11:08
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Re: calculating position using follower wheels


Question 4:

In the code block highlighted in blue at the bottom of post 11 the following code appears for calculating position and heading:

Code:

Q+=dR/2.0;
X+=dF*sin(Q)+dS*cos(Q);
Y+=dF*cos(Q)-dS*sin(Q);
Q+=dR/2.0;
Give the mathematical justification for updating the heading "Q" twice in half-steps, instead of doing it like this:

Code:

Q+=dR;
X+=dF*sin(Q)+dS*cos(Q);
Y+=dF*cos(Q)-dS*sin(Q);

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