steering.h

Go to the documentation of this file.

/* -*- mode: C++ -*-
 *
 *  Description:  common steering constants and calculations
 *
 *  Copyright (C) 2005, 2007, 2009 Austin Robot Technology
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: steering.h 630 2010-09-25 16:20:42Z jack.oquin $
 */

#ifndef _STEERING_H
#define _STEERING_H

#include <angles/angles.h>
#include <art_msgs/ArtVehicle.h>

namespace Steering
{

  const float steer_speed_min = 3.8;    /* minimum speed for calculation */
                                        /* (experimentally verified) */

  static inline float steering_angle(float v, float y)
  {
    float steer_radians = atan2f(art_msgs::ArtVehicle::wheelbase * y,v);
    float steer_degrees = angles::to_degrees(steer_radians);

    steer_degrees = fminf(steer_degrees,
                          art_msgs::ArtVehicle::max_steer_degrees);
    steer_degrees = fmaxf(steer_degrees,
                          -art_msgs::ArtVehicle::max_steer_degrees);

    return steer_degrees;
  }

  static inline double angle_to_yaw(double v, float angle)
  {
    return v * (tanf(angles::from_degrees(angle))
                / art_msgs::ArtVehicle::wheelbase);
  }

  const double maximum_yaw =
    angle_to_yaw(steer_speed_min, art_msgs::ArtVehicle::max_steer_degrees);
}

#endif // _STEERING_H

---

art_common
Author(s): Austin Robot Technology
autogenerated on Fri Jan 11 10:02:51 2013