Add time to wheel angle method

diff --git a/path-to-traj.py b/path-to-traj.py
index ea900b9ddc5a84b4efc7f38839d880231311a4a1..a0d85912bdc321b16c6dec4fe1d816263311f79b 100755 (executable)
--- a/path-to-traj.py
+++ b/path-to-traj.py
@@ -177,6 +177,10 @@ class BicycleCar:
             t = abs(self.sp / self.acc)
             return self.sp * t + 1/2 * self.acc * t**2
 
+    def ttwa(self, wa):
+        """Return time to wheel angle."""
+        wa = check_limits(wa, self.max_wa)
+        return (wa - self.wa) / self.max_wa_rate * DT
 
     def poses_to(self, pose):
         """Return tuple of poses toward pose.