A class for managing steering angle calculations based on current and desired heading and specified intercept distance along the new path. More...

#include <Steering.h>

Public Member Functions
	Steering (float wheelbase, float track)
	create a new steering calculator
void	setIntercept (float intercept)
	set intercept distance
float	calcSA (float theta)
	convert course change to average steering angle assumes Ackerman steering, with track and wheelbase and course intercept distance specified.

Detailed Description

A class for managing steering angle calculations based on current and desired heading and specified intercept distance along the new path.

Definition at line 9 of file Steering.h.

Constructor & Destructor Documentation

create a new steering calculator

create a new steering calculator for a particular vehicle

Parameters:

wheelbase	vehicle wheelbase
track	vehicle track width
intercept	new course intercept distance

Definition at line 7 of file Steering.cpp.

float calcSA ( float theta )

convert course change to average steering angle assumes Ackerman steering, with track and wheelbase and course intercept distance specified.

Calculate a steering angle based on relative bearing.

Parameters:

theta relative bearing of the new course

Definition at line 22 of file Steering.cpp.

void setIntercept ( float intercept )

set intercept distance

Parameters:

intercept distance along new course at which turn arc will intercept

Definition at line 14 of file Steering.cpp.