steering.h
Go to the documentation of this file.
00001 /* -*- mode: C++ -*-
00002  *
00003  *  Description:  common steering constants and calculations
00004  *
00005  *  Copyright (C) 2005, 2007, 2009 Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: steering.h 630 2010-09-25 16:20:42Z jack.oquin $
00009  */
00010 
00011 #ifndef _STEERING_H
00012 #define _STEERING_H
00013 
00014 #include <angles/angles.h>
00015 #include <art_msgs/ArtVehicle.h>
00016 
00022 namespace Steering
00023 {
00024 
00026   const float steer_speed_min = 3.8;    /* minimum speed for calculation */
00027                                         /* (experimentally verified) */
00028 
00053   static inline float steering_angle(float v, float y)
00054   {
00055     float steer_radians = atan2f(art_msgs::ArtVehicle::wheelbase * y,v);
00056     float steer_degrees = angles::to_degrees(steer_radians);
00057 
00058     steer_degrees = fminf(steer_degrees,
00059                           art_msgs::ArtVehicle::max_steer_degrees);
00060     steer_degrees = fmaxf(steer_degrees,
00061                           -art_msgs::ArtVehicle::max_steer_degrees);
00062 
00063     return steer_degrees;
00064   }
00065 
00069   static inline double angle_to_yaw(double v, float angle)
00070   {
00071     return v * (tanf(angles::from_degrees(angle))
00072                 / art_msgs::ArtVehicle::wheelbase);
00073   }
00074 
00075   const double maximum_yaw =
00076     angle_to_yaw(steer_speed_min, art_msgs::ArtVehicle::max_steer_degrees);
00077 }
00078 
00079 #endif // _STEERING_H
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends Defines


art_common
Author(s): Austin Robot Technology
autogenerated on Tue Sep 24 2013 10:41:19