From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Thu, 2 Dec 2021 22:32:50 +0000 (+0100)
Subject: Add front track, refine mtr computation
X-Git-Tag: v0.8.0~6
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/42cfdd753a4f7e662ab85ed894d3c56ddb083a13

Add front track, refine mtr computation
---

diff --git a/incl/bcar.hh b/incl/bcar.hh
index c6210f8..c24334f 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -205,6 +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;
@@ -239,6 +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_,
diff --git a/src/bcar.cc b/src/bcar.cc
index bf273e6..060ed15 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -495,12 +495,24 @@ CarSize::dr() const
 	return this->len() - this->df();
 }
 
+void
+CarSize::ft(double ft)
+{
+	this->_front_track = ft;
+}
+
+double
+CarSize::ft() const
+{
+	return this->_front_track;
+}
+
 double
 CarSize::mtr() const
 {
 	auto ctc2 = pow(this->ctc() / 2.0, 2.0);
 	auto wb2 = pow(this->wb(), 2.0);
-	return sqrt(ctc2 - wb2) - this->w() / 2.0;
+	return sqrt(ctc2 - wb2) - this->ft() / 2.0;
 }
 
 double