RadiusControl.h

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#ifndef RADIUSCONTROL_H
#define RADIUSCONTROL_H

#include <math.h>

namespace dbw_mkz_twist_controller {

class RadiusControl {
public:
  RadiusControl() : wheelbase_(1.0), steering_ratio_(1.0), angle_max_(INFINITY) {}
  RadiusControl(double wheelbase, double steering_ratio, double steering_wheel_angle_max = INFINITY) :
    wheelbase_(wheelbase), steering_ratio_(steering_ratio), angle_max_(fabs(steering_wheel_angle_max)) {}
  void setWheelBase(double val) { wheelbase_ = val; }
  void setSteeringRatio(double val) { steering_ratio_ = val; }
  void setSteeringWheelAngleMax(double val) { angle_max_ = fabs(val); }
  double getSteeringWheelAngle(double radius) {
    double angle = isnan(radius) ? 0.0 : atan(wheelbase_ / radius) * steering_ratio_;
    if (angle > angle_max_) {
      return angle_max_;
    } else if (angle < -angle_max_) {
      return -angle_max_;
    }
    return angle;
  }
private:
  double wheelbase_;
  double steering_ratio_;
  double angle_max_;
};

}

#endif // RADIUSCONTROL_H