From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 3 Apr 2019 07:37:46 +0000 (+0200)
Subject: Add distance to rear corner getter
X-Git-Tag: v0.6.0~5^2~12
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/f2aef95ff70d38c567a6ddea6058b3af9dec781e

Add distance to rear corner getter
---

diff --git a/incl/bcar.h b/incl/bcar.h
index afac7c7..0abd3dd 100644
--- a/incl/bcar.h
+++ b/incl/bcar.h
@@ -92,6 +92,8 @@ class BicycleCar: public RRTNode {
 
                 /** Return distance from wheelbase center to top corner */
                 float diag_radi();
+                /** Return distance from wheelbase center to rear corner */
+                float diag_rradi();
                 /** Outer radius of the farthest point */
                 float out_radi();
                 /** Angle between wheelbase line and outer radius */
diff --git a/vehicle_platform/bcar.cc b/vehicle_platform/bcar.cc
index 3972c96..f1580a1 100644
--- a/vehicle_platform/bcar.cc
+++ b/vehicle_platform/bcar.cc
@@ -254,6 +254,13 @@ float BicycleCar::diag_radi()
         return pow(xx + yy, 0.5);
 }
 
+float BicycleCar::diag_rradi()
+{
+        float xx = pow(this->dr(), 2);
+        float yy = pow(this->width_ / 2, 2);
+        return pow(xx + yy, 0.5);
+}
+
 float BicycleCar::out_radi()
 {
         return pow((pow(this->turning_radius_ + this->width_ / 2, 2) +