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cloe_esmini::ESMiniSimpleEgoModel Class Reference

#include <esmini_ego_control.hpp>

Public Member Functions

 ESMiniSimpleEgoModel (uint64_t ego_id)
 
void step (double dt_sec, double trg_throttle, double trg_front_wheel_angle)
 
const SE_SimpleVehicleState & get_ego_state ()
 
double get_throttle_from_acceleration (double trg_accel) const
 

Detailed Description

ESMiniSimpleEgoModel updates the ego state based on a kinematic bicycle model.

For details on the model, refer to https://ieeexplore.ieee.org/document/7225830.

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