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58 lines
2.2 KiB
58 lines
2.2 KiB
/* |
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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; // vehicle's maximum forward speed in m/s |
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float max_accel = 10.0f; // vehicle's maximum forward acceleration in m/s/s |
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float max_wheel_turn = 35.0f; // ackermann steering vehicle's maximum steering angle |
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float turning_circle = 1.8f; // ackermann steering vehicle's minimum turn diameter in meters |
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float skid_turn_rate = 140.0f; // skid-steering vehicle's maximum turn rate in deg/sec |
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bool skid_steering; // true if this vehicle is a skid-steering vehicle |
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// vectored thrust related members |
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bool vectored_thrust; // true if vehicle uses vectored thrust (i.e. steering controls direction of thrust) |
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float vectored_angle_max = 90.0f; // maximum angle (in degrees) to which thrust can be turned |
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float vectored_turn_rate_max = 90.0f; // maximum turn rate (in deg/sec) with full throttle angled at 90deg |
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float turn_circle(float steering) const; |
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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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