Class Ackermann

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

Index

Constructors

Methods

curvature steeringAngle turnRadius yawRate

Constructors

constructor

new Ackermann(wheelbase: number): Ackermann
Creates a model for axles wheelbase apart; its magnitude is used.
Parameters
- wheelbase: number
Returns Ackermann
- Defined in index.d.ts:15

Methods

curvature

curvature(steering: number): number
Returns the path curvature of a steering angle, the reciprocal of the turn radius.
Parameters
- steering: number
Returns number
- Defined in index.d.ts:29

steeringAngle

steeringAngle(linear: number, angular: number): number
Returns the steering angle, in radians, for a forward speed and a yaw rate, or 0 while stopped.
Parameters
- linear: number
- angular: number
Returns number
- Defined in index.d.ts:20

turnRadius

turnRadius(steering: number): number
Returns the turn radius of a steering angle, in meters, or Infinity with the wheels straight.
Parameters
- steering: number
Returns number
- Defined in index.d.ts:27

yawRate

yawRate(linear: number, steering: number): number
Returns the yaw rate a forward speed and a steering angle, in radians, produce.
Parameters
- linear: number
- steering: number
Returns number
- Defined in index.d.ts:22