Add speed, steer parameters

diff --git a/api/bcar.h b/api/bcar.h
index b401f1c7dce86c2cb45a37788d348ced967d9833..bdde58687ffff768a75551bde8e91cfc320b0e60 100644 (file)
--- a/api/bcar.h
+++ b/api/bcar.h
@@ -16,6 +16,8 @@ This class contains some geometrical computations of bicycle car.
 \param sd The safety distance.
 \param df Distance from rear axle center to the front of the car.
 \param dr Distance from rear axle center to the back of the car.
+\param sp Speed of the car.
+\param st Steering of the car.
 */
 class BicycleCar {
         private:
@@ -33,6 +35,9 @@ class BicycleCar {
                 double sd_ = 0;
                 double df_ = 3.105;
                 double dr_ = 0.655;
+                // moving
+                double sp_ = 0;
+                double st_ = 0;
         public:
                 // car frame
                 double lfx(); double lfy();
@@ -90,6 +95,12 @@ class BicycleCar {
                 double dr() { return this->dr_; }
                 void dr(double dr) { this->dr_ = dr; }
 
+                double sp() { return this->sp_; }
+                void sp(double sp) { this->sp_ = sp; }
+
+                double st() { return this->st_; }
+                void st(double st) { this->st_ = st; }
+
                 BicycleCar();
 };