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PySteering

oxiphysics_python::vehicle_api

Struct PySteering 

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pub struct PySteering {
    pub rack_ratio: f64,
    pub max_wheel_angle: f64,
    pub four_ws: bool,
    pub rear_steer_ratio: f64,
    pub wheelbase: f64,
    pub track_width: f64,
    pub steering_damping: f64,
    pub input: f64,
}
Expand description

Steering system with Ackermann geometry and 4WS option.

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§rack_ratio: f64

Steering rack ratio (radians of wheel turn per radian of steering input).

§max_wheel_angle: f64

Maximum steering angle at the wheels (rad).

§four_ws: bool

Whether four-wheel steering is active.

§rear_steer_ratio: f64

Rear steer angle ratio relative to front (0 = no rear steer, negative = counter-steer).

§wheelbase: f64

Wheelbase (m).

§track_width: f64

Track width (m).

§steering_damping: f64

Steering feel: damping coefficient.

§input: f64

Current steering angle input (normalized -1 to 1).

Implementations§

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impl PySteering

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pub fn new(wheelbase: f64, track_width: f64) -> Self

Create a default front-wheel-steering system.

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pub fn front_angle(&self) -> f64

Compute the front wheel steer angle from the input.

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pub fn rear_angle(&self) -> f64

Compute the rear wheel steer angle (0 for standard FWS).

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pub fn ackermann_front_angles(&self) -> (f64, f64)

Compute Ackermann inner/outer wheel angles.

Trait Implementations§

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impl Clone for PySteering

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fn clone(&self) -> PySteering

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PySteering

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl<'de> Deserialize<'de> for PySteering

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for PySteering

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fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more

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impl<T> Any for T
where T: 'static + ?Sized,

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where T: ?Sized,

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fn borrow(&self) -> &T

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impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

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type Output = T

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fn is_in_subset(&self) -> bool

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Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

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