Lateral force update #6
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teixdavide
approved these changes
Oct 20, 2024
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Resumo pelo copilot
This pull request includes significant updates to the vehicle model configuration and implementation. The changes involve updating vehicle parameters, adding detailed comments, and implementing new methods for processing slip angles and dynamic states.
Vehicle Model Configuration Updates:
config/vehicleModel.yaml: Updated kinematic parameters (lr,lf,sf,sr), mass (m), wheel radius (wheelRadius), and gear ratio (gearRatio). [1] [2]New Constants and Methods:
include/VehicleModel/VehicleModeConfig.hpp: Added a new header file defining constants used in the vehicle model calculations.src/VehicleModel/VehicleModelBicycle.cpp: Introduced new methods for initializing vehicle states, reading configuration parameters, and processing slip angles using the newly defined constants. [1] [2] [3]Code Enhancements and Comments:
src/VehicleModel/VehicleModelBicycle.cpp: Added detailed comments explaining the purpose of various code sections, including initialization, dynamic state calculations, and forward integration. [1] [2] [3] [4] [5] [6]Dynamic State Calculations:
src/VehicleModel/VehicleModelBicycle.cpp: Enhanced the calculation of dynamic states, including lateral and longitudinal forces, angular acceleration, and integration of vehicle state over time. [1] [2] [3]These changes improve the accuracy and clarity of the vehicle model, making it easier to understand and maintain.