/* -*- Mode: Text -*-* */

/********************************************************************\
* File: 2dkineveh.hs                                                 *
* Date: 07/12/1997                                                   *
* Author: Cem Unsal                                                  *
*         Robotics Institute, Carnegie-Mellon University             *
*         unsal@ri.cmu.edu                                           *
*                                                                    *
* Description:                                                       *
* Two dimentional kinematic vehicle model                            *
*                                                                    *
* A simple bicycle model with a wheel base of W meters               *
*                                                                    *
* Model parameters can be set in this file, or the type 'creating'   *
* the vehicle model.                                                 *
*                                                                    *
* External C functions: -                                            *
*                                                                    *
* This file is distributed under the conditions described in the     *
* file 'CONDITIONS' which should accompany this file.                *
\********************************************************************/

#ifndef SAHS_VEHICLE_KINEMATICS_HS
#define SAHS_VEHICLE_KINEMATICS_HS

type Vehicle_Kinematics
{
  input number steering;     // Steering angle at the front wheel
                             // (in vehicle coord. frame)
        number acc;          // Long. acceleration for the front wheel
                             // (in the direction of the rolling motion)
                                                             
  output continuous number thetaDot;         // Angular speed of rotation
         continuous number xDot, yDot := 0;  // Long. and lateral speeds
                                             // (in vehicle coord. frame)
        continuous number speed;    // Wheel speed

  state number W := 3.5;            // Wheel base

  flow default 
    {
      speed' = acc;                         // This is here so that we may
                                            // add more detail later

      xDot = speed * cos(steering);         // Basic bicycle model
      thetaDot = speed / W * sin(steering);        
    };
}

#endif // SAHS_VEHICLE_KINEMATICS_HS