s2v_model.hpp

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#pragma once
#include <Eigen/Dense>
#include <utility>
 
#include "common_lib/car_parameters/car_parameters.hpp"
#include "common_lib/structures/position.hpp"
class S2VModel {
public:
  virtual std::pair<double, double> wheels_velocities_to_cg(double rl_rpm,
                                                            [[maybe_unused]] double fl_rpm,
                                                            double rr_rpm,
                                                            [[maybe_unused]] double fr_rpm,
                                                            double steering_angle) = 0;
 
  virtual common_lib::structures::Position rear_axis_position(
      const common_lib::structures::Position& cg, double orientation,
      double dist_cg_2_rear_axis) = 0;
 
  virtual Eigen::VectorXd cg_velocity_to_wheels(const Eigen::Vector3d& cg_velocities) = 0;
 
  virtual Eigen::MatrixXd jacobian_cg_velocity_to_wheels(const Eigen::Vector3d& cg_velocities) = 0;
};