Function ackermann_angles 

pub fn ackermann_angles(
    steer_angle: f64,
    wheelbase: f64,
    track_width: f64,
) -> (f64, f64)

Compute Ackermann steering angles for inner and outer front wheels.

• steer_angle — rack steering angle (rad, positive = left turn)
• wheelbase — distance between front and rear axles (m)
• track_width — distance between left and right wheels (m)

Returns (angle_inner, angle_outer) in radians.