utils.hpp File Reference

#include <utility>
#include "common_lib/maths/transformations.hpp"
#include <memory>
#include "common_lib/car_parameters/car_parameters.hpp"

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Functions
std::pair< double, double >	wheels_velocities_to_cg (std::shared_ptr< common_lib::car_parameters::CarParameters > car_parameters, double rl_rpm, double fl_rpm, double rr_rpm, double fr_rpm, double steering_angle)
	Calculates the translational and rotational velocities of the vehicle from wheel rotations and steering angle.

Function Documentation

wheels_velocities_to_cg()

std::pair< double, double > wheels_velocities_to_cg	(	std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters,
		double	rl_rpm,
		double	fl_rpm,
		double	rr_rpm,
		double	fr_rpm,
		double	steering_angle
	)

Calculates the translational and rotational velocities of the vehicle from wheel rotations and steering angle.

Parameters

rl_rpm	rear left wheel rpms
fl_rpm	front left wheel rpms
rr_rpm	rear right wheel rpms
fr_rpm	front right wheel rpms
steering_angle	steering angle in radians

Returns

std::pair<double, double> translational velocity, rotational velocity

Definition at line 3 of file utils.cpp.

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