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63 lines
2.7 KiB
63 lines
2.7 KiB
/***************************************************************************** |
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* Copyright (c) 2008, University of Florida |
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* All rights reserved. |
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* |
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* This file is part of OpenJAUS. OpenJAUS is distributed under the BSD |
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* license. See the LICENSE file for details. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of the University of Florida nor the names of its |
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* contributors may be used to endorse or promote products derived from |
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* this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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****************************************************************************/ |
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// File: vehicle.h |
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// Version: 0.1 |
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// Written by: Bob Touchton (btouch@ufl.edu) and Tom Galluzzo (galluzzt@ufl.edu) |
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// Date: 07/22/2005 |
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#ifndef VEHICLE_H |
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#define VEHICLE_H |
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#define VEHICLE_MAX_PHI_RATE_EFFORT_PER_SEC 60.0 // Tuned: 8/13/2005, Roberto and Tom |
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#define VEHICLE_CURVATURE_PER_EFFORT 0.0016f // Changed from 0.00078f per Tom 8/19/05 Tuned: 8/13/2005, Danny and Tom |
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#define VEHICLE_MAX_PHI_EFFORT 100.0 |
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typedef struct VehicleState |
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{ |
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float xM; |
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float yM; |
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float yawRad; |
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float speedMps; |
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float desiredSpeedMps; |
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float phiEffort; |
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float desiredPhiEffort; |
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}* VehicleState; |
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VehicleState vehicleStateCreate(void); |
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void vehicleStateDestroy(VehicleState); |
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void vehicleModelTimeStep(VehicleState, float); |
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void vehicleModelDistStep(VehicleState, float); |
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#endif // VEHICLE_H
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