Add set max steer method

diff --git a/api/bcar.h b/api/bcar.h
index bd36da777adc5883cef004a64b8bd2f5371d3324..7a4c7bc626e1813446520614cac5f5535c907d94 100644 (file)
--- a/api/bcar.h
+++ b/api/bcar.h
@@ -76,6 +76,9 @@ class BicycleCar {
                 the rear (from the rear axle view) part of the car.
                 */
                 double orradi() const;
+                /*! \brief Set maximum steering angle.
+                */
+                void set_max_steer();
 
                 // car frame
                 double lfx() const; double lfy() const;

diff --git a/src/bcar.cc b/src/bcar.cc
index 9f90476f8b74066d23350990e964c138fc4a8dac..92a1b31630df302bcad18fbd5b165571dcbd6716 100644 (file)
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -34,6 +34,11 @@ double BicycleCar::orradi() const
         return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->dr(), 2));
 }
 
+void BicycleCar::set_max_steer()
+{
+        this->st(asin(this->wb() / (10.82 / 2)));
+}
+
 // car frame
 double BicycleCar::lfx() const
 {