mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
/*
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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 *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new SimRover(frame_str);
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}
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private:
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float max_speed = 20.0f;
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float max_accel = 10.0f;
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float max_wheel_turn = 35.0f;
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float turning_circle = 1.8f;
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float skid_turn_rate = 140.0f;
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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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