gusucode.com > Mobile Robotics Simulation Toolbox > src/kinematics/worldToBody.m
function velB = worldToBody(velW,pose) % WORLD TO BODY Converts a 2D velocity input velW = [vx;vy;w] from % world (global) coordinates to body (vehicle) coordinates. % % vx = Linear velocity in x-direction (longitudinal) % vy = Linear velocity in y-direction (lateral) % w = Angular velocity (about z-axis) % % Copyright 2018 The MathWorks, Inc. theta = pose(3); velB = [cos(theta) sin(theta) 0;-sin(theta) cos(theta) 0;0 0 1]*velW; end