cloe::utility::SimpleSteeringModel Class Reference

#include <simple_steering_model.hpp>

Public Member Functions
	SimpleSteeringModel (double delta_time_s)
void	update_model (double steering_torque, double long_velocity)
double	steering_angle () const

Detailed Description

This steering model models the front-wheel angle based on the torque applied at the steering wheel and the current vehicle veloocity.

This model must be updated before values are read from it.

Member Function Documentation

steering_angle()

double cloe::utility::SimpleSteeringModel::steering_angle ( ) const

inline

Return the steering angle at the front-wheel in [rad].

update_model()

void cloe::utility::SimpleSteeringModel::update_model ( double  steering_torque, double  long_velocity  )

inline

Update the front-wheel steering angle based on the steering-wheel torque and the vehicle velocity.

Note that this updates the model over time, so that each call assumes that a certain amount of time is.

Parameters

steering_torque	in [Nm]
long_velocity	in [m/s]

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

• /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/develop/models/include/cloe/utility/simple_steering_model.hpp