steering_utils.hpp

Go to the documentation of this file.

/*
 * Copyright 2022 Robert Bosch GmbH
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#pragma once
#ifndef CLOE_COMPONENT_UTILITY_STEERING_UTILS_HPP_
#define CLOE_COMPONENT_UTILITY_STEERING_UTILS_HPP_

namespace cloe {
namespace utility {

struct Geometry {
  double wheel_base{0.0};

  double track_base{0.0};
};

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

double calculate_wheel_angle(const Geometry& geometry, WheelId wheel_id, double steering_angle);

}  // namespace utility
}  // namespace cloe

#endif  // CLOE_COMPONENT_UTILITY_STEERING_UTILS_HPP_