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update notebook

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Atsushi Sakai
2018-07-16 22:00:09 +09:00
parent dc4d71b03f
commit eb6d1cbe6f
1 changed files with 12 additions and 0 deletions
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PathTracking/model_predictive_speed_and_steer_control/notebook.ipynb
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@@ -91,6 +91,18 @@
"\\begin{equation*}\n",
"B' =\n",
"\\begin{bmatrix}\n",
"\\frac{\\partial }{\\partial a}vcos(\\phi) &\n",
"\\frac{\\partial }{\\partial \\delta}vcos(\\phi)\\\\\n",
"\\frac{\\partial }{\\partial a}vsin(\\phi) &\n",
"\\frac{\\partial }{\\partial \\delta}vsin(\\phi)\\\\\n",
"\\frac{\\partial }{\\partial a}a &\n",
"\\frac{\\partial }{\\partial \\delta}a\\\\\n",
"\\frac{\\partial }{\\partial a}\\frac{vtan(\\delta)}{L} &\n",
"\\frac{\\partial }{\\partial \\delta}\\frac{vtan(\\delta)}{L}\\\\\n",
"\\end{bmatrix}\n",
"\\\\\n",
"　=\n",
"\\begin{bmatrix}\n",
"0 & 0 \\\\\n",
"0 & 0 \\\\\n",
"1 & 0 \\\\\n",