base_steering_model.hpp

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#pragma once
 
#include <Eigen/Dense>
 
#include "common_lib/car_parameters/car_parameters.hpp"
 
class SteeringModel {
protected:
  std::shared_ptr<common_lib::car_parameters::CarParameters> car_parameters_;
 
public:
  SteeringModel(const common_lib::car_parameters::CarParameters& car_parameters)
      : car_parameters_(
            std::make_shared<common_lib::car_parameters::CarParameters>(car_parameters)) {}
  virtual Eigen::Vector4d calculate_steering_angles(double steering_wheel_angle) const = 0;
};