Struct Ackermann

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

Car-like steering: one steered axle and a driven axle a wheelbase apart.

public readonly record struct Ackermann : IEquatable<Ackermann>

Implements

IEquatable<Ackermann>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

Ackermann(float)

Car-like steering: one steered axle and a driven axle a wheelbase apart.

public Ackermann(float Wheelbase)

Parameters

Wheelbase float

The distance from the steered axle to the driven axle; its magnitude is used.

Properties

Wheelbase

The distance from the steered axle to the driven axle; its magnitude is used.

public float Wheelbase { get; init; }

Property Value

float

Methods

Curvature(float)

Returns the path curvature of a steering angle, the reciprocal of the turn radius.

public float Curvature(float steering)

Parameters

steering float

The steering angle in radians.

Returns

float

The curvature, or 0 for a vehicle with no wheelbase.

SteeringAngle(float, float)

Returns the steering angle for a forward speed and a yaw rate.

public float SteeringAngle(float linear, float angular)

Parameters

linear float

The forward speed.

angular float

The desired yaw rate, positive turning left.

Returns

float

The steering angle in radians, or 0 while the vehicle is stopped.

TurnRadius(float)

Returns the turn radius of a steering angle.

public float TurnRadius(float steering)

Parameters

steering float

The steering angle in radians.

Returns

float

The radius in meters, or PositiveInfinity with the wheels straight.

YawRate(float, float)

Returns the yaw rate a forward speed and a steering angle produce.

public float YawRate(float linear, float steering)

Parameters

linear float

The forward speed.

steering float

The steering angle in radians.

Returns

float

The yaw rate, or 0 for a vehicle with no wheelbase.