base_steering_motor_model.hpp

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#pragma once
 
#include <Eigen/Dense>
#include <memory>
 
#include "common_lib/car_parameters/car_parameters.hpp"
 
class SteeringMotorModel {
protected:
  std::shared_ptr<common_lib::car_parameters::CarParameters> car_parameters_;
 
public:
  SteeringMotorModel(const common_lib::car_parameters::CarParameters& car_parameters)
      : car_parameters_(
            std::make_shared<common_lib::car_parameters::CarParameters>(car_parameters)) {}
 
  virtual double compute_steering_rate(double current_steering, double steering_goal) = 0;
};