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jacobian calculate error #10
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agree with you! |
@yvesguo you are right |
@karanchawla it seems that you are calculating the jacobian wrong, I just checked it and as @yvesguo suggested r13 should be replaced. |
can I ask where the jacobian equations from |
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In calculate_jacobian function, r13 should be turn_radius * ( cos(dt*psi_dot + psi) - cos(psi) ).
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