steering_utils.hpp File Reference

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Classes
struct	cloe::utility::Geometry

Enumerations
enum class	WheelId : unsigned int { FrontLeft = 0 , FrontRight , RearLeft , RearRight }

Functions
double	cloe::utility::calculate_wheel_angle (const Geometry &geometry, WheelId wheel_id, double steering_angle)

Function Documentation

calculate_wheel_angle()

double cloe::utility::calculate_wheel_angle	(	const Geometry &	geometry,
		WheelId	wheel_id,
		double	steering_angle
	)

This function translates a steering angle from the center of the axle to the individual steering angle of a wheel.

This function is based on the Ackermann steering geometry, see [https://en.wikipedia.org/wiki/Ackermann_steering_geometry, accessed 28.10.2022] The calculation only works for the following assumptions, as it assumes that the centre of rotation is on the same level with the rear wheels:

• low speed
• no rear steering Detailed explanations can be found in basic vehicle dynamics literature, e.g. chapter 4.2 of the Steering Handbook by Harrer and Pfeffer [https://link.springer.com/book/10.1007/978-3-319-05449-0]

The function needs a wheel_base, a track_base (both stored in Geometry), the wheel_id and the steering_angle in the center of the axle. The wheel_id is the ID you want to calculate the angle for, i.e. either FrontLeft or FrontRight. The function returns the value of the steering_angle of the requested wheel.

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