ParallelFrontSteering Class Reference

Steering model that assumes parallel front steering, meaning that front wheels turn as much as the steering wheel angle, and rear wheels do not steer. More...

#include <parallel_front_steering.hpp>

Inheritance diagram for ParallelFrontSteering:

Collaboration diagram for ParallelFrontSteering:

Public Member Functions
	ParallelFrontSteering (common_lib::car_parameters::CarParameters car_parameters)
Eigen::Vector4d	calculate_steering_angles (double steering_wheel_angle) const override
	Calculate the steering angles on each wheel based on the steering wheel angle.
Public Member Functions inherited from SteeringModel
	SteeringModel (const common_lib::car_parameters::CarParameters &car_parameters)

Additional Inherited Members
Protected Attributes inherited from SteeringModel
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Steering model that assumes parallel front steering, meaning that front wheels turn as much as the steering wheel angle, and rear wheels do not steer.

Definition at line 9 of file parallel_front_steering.hpp.

Constructor & Destructor Documentation

ParallelFrontSteering()

ParallelFrontSteering::ParallelFrontSteering ( common_lib::car_parameters::CarParameters  car_parameters )

inlineexplicit

Definition at line 11 of file parallel_front_steering.hpp.

Member Function Documentation

calculate_steering_angles()

Eigen::Vector4d ParallelFrontSteering::calculate_steering_angles ( double  steering_wheel_angle ) const

overridevirtual

Calculate the steering angles on each wheel based on the steering wheel angle.

Parameters

steering_wheel_angle

The angle of the steering wheel in radians.

Returns

Eigen::Vector4d A vector containing the steering angles for each wheel: [front left, front right, rear left, rear right] in radians.

Implements SteeringModel.

Definition at line 3 of file parallel_front_steering.cpp.

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The documentation for this class was generated from the following files:

• src/motion_lib/include/motion_lib/steering_model/parallel_front_steering.hpp
• src/motion_lib/src/steering_model/parallel_front_steering.cpp