[Simulink 개발] 시뮬링크 센서 축 회전변환

function [x_rot, y_rot] = Rotation(x,y,theta, yaw_car, yaw_traf) In = [x, y, 1]'; yaw_car_deg = yaw_car/3.14 * 180; yaw_traf_deg = yaw_traf/3.14 * 180; yaw_deg = yaw_traf_deg-yaw_car_deg; RotMat = [[cosd(theta-yaw_deg) -sind(theta-yaw_deg) 0]; [sind(theta-yaw_deg) cosd(theta-yaw_deg) 0]; [0 0 1]]; Out = RotMat*In; x_rot = Out(1); y_rot = Out(2);

2021.03.30