Skip to main content

pamoja_ackermann_yaw_rate

pamoja_ffi::motion

Function pamoja_ackermann_yaw_rate 

Source 
#[unsafe(no_mangle)]
pub extern "C" fn pamoja_ackermann_yaw_rate(
    car: PamojaAckermann,
    linear: f32,
    steering: f32,
) -> f32
Expand description

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

§Arguments

  • car - the vehicle.
  • linear - the forward speed.
  • steering - the steering angle in radians.

§Returns

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