ardupilot/libraries/SITL/SIM_Rover.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
rover simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
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namespace SITL {
/*
a rover simulator
*/
class SimRover : public Aircraft {
public:
SimRover(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input);
/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
return new SimRover(home_str, frame_str);
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}
private:
float max_speed;
float max_accel;
float wheelbase;
float wheeltrack;
float max_wheel_turn;
float turning_circle;
float skid_turn_rate;
bool skid_steering;
float turn_circle(float steering);
float calc_yaw_rate(float steering, float speed);
float calc_lat_accel(float steering_angle, float speed);
};
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} // namespace SITL