Add front track, refine mtr computation

[hubacji1/bcar.git] / incl / bcar.hh

diff --git a/incl/bcar.hh b/incl/bcar.hh
index e1a17ddad9e32bd5e7e8ef98680aa4ccd1668989..c24334fc52585090614381ef0c9684466daee0cb 100644 (file)
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
 /*! \file */
 #ifndef BCAR_BCAR_H
 #define BCAR_BCAR_H
@@ -199,6 +205,7 @@ private:
        double wheelbase_ = 2.450;
        double distance_to_front_ = 3.105;
        double length_ = 3.760;
+       double _front_track = 1.625;
 public:
        /*! Get curb-to-curb distance. */
        double ctc() const;
@@ -233,6 +240,12 @@ public:
        /*! Get distance from rear axle to rear. */
        double dr() const;
 
+       /*! Set front track. */
+       void ft(double ft);
+
+       /*! Get front track. */
+       double ft() const;
+
        /*! \brief Get minimum turning radius.
         *
         * Please, note that the method returns really _minimum turning radius_,