TofWheel

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 5.4, Creation date: 2023-10-10, Last change: 2025-09-15

returns a HT matrix for a 2 wheel kinematic movement

Description

Used in Braitenberg vehicle examples

See Also: TofDPhi , TofDPhiH

Example Illustration

Syntax

[TS,PL,TR,TL]=TofWheel(D,[w])

Input Parameter

`D`:		Distance between the two weels in x
`w`:		movement in rad

Output Parameter

`TS`:		Center Frame after movement
`PL`:		path of movement
`TR`:		Frame of result of right wheel
`TL`:		Frame of result of left wheel

Examples


TofWheel(30,[0 270]/180*pi)

SGR=SGofCPLcommand("b 30 40,h 10, enter, sph 10, rel center, rel alignback 5, rel alignleft -2,swap, enter, sph 10, rel center, rel alignback 5, rel alignright -2,add, swap , add, enter, c 12, h 5,roty 90,rel alignbottom 1, rel alignleft 5, rel infront -5, add, enter, c 12, h 5,roty 90,rel alignbottom, rel alignright 5, rel alignfront, add");
TR=eye(3)
for i=1:100
    d=rand(1,2)/5;              % robot creates random numbers for the wheel movement
    % Create robot animation
    TR=TR*TofWheel(30,d); delete(hr); hr=SGplotalpha(SGtransT(SGR,T3ofT2(TR)),'g',0.5); 
    axis tight; view(-30,30); drawnow;
end

Copyright 2023-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Last html export of this page out of FM database by TL: 2025-09-21