mirror of
https://github.com/ArduPilot/ardupilot
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11b599bcd0
For the general case, pragma once is better replacement for of include guards. One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
57 lines
1.5 KiB
C++
57 lines
1.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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rover simulator class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a rover simulator
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*/
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class SimRover : public Aircraft {
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public:
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SimRover(const char *home_str, const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new SimRover(home_str, frame_str);
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}
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private:
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float max_speed;
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float max_accel;
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float wheelbase;
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float wheeltrack;
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float max_wheel_turn;
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float turning_circle;
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float skid_turn_rate;
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bool skid_steering;
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float turn_circle(float steering);
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float calc_yaw_rate(float steering, float speed);
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float calc_lat_accel(float steering_angle, float speed);
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};
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} // namespace SITL
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