08. Calculate Prediction Step: Quiz
Calculate Prediction Step Quiz
Calculate Prediction Step
SOLUTION:
(x, y, theta) = (97.59, 75.08, (51pi)/80)Recall the equations for updating x, y and the yaw angle when the yaw rate is not equal to zero:
x_f = x_0 + \dfrac{v}{ \dot{\theta}}[sin(\theta_0 + \dot{\theta}(dt)) - sin(\theta_0)]
y_f = y_0 + \dfrac{v}{ \dot{\theta}}[cos(\theta_0) - cos(\theta_0 + \dot{\theta}(dt))]
\theta_f = \theta_0 + \dot{\theta}(dt)