MotionModel.java

package com.roboclub.robobuggy.nodes.localizers;

/**
 * Motion model - TODO
 */
public class MotionModel {
    /**
     * @brief distance between buggy axles
     */
    private static final double WHEELBASE_M = 1.13;

    MotionModel() {
        //TODO


    }

    /**
     * Project our path around a circle of our turning radius to find change in heading.
     *
     * @param deltaDistance Distance traveled since last heading update. Assumed to be along constant radius arc.
     * @param steeringAngle the current steering angle
     * @return the heading change
     */
    public static double getHeadingChange(double deltaDistance, double steeringAngle) {
        double turningRadius = WHEELBASE_M / Math.sin(Math.toRadians(steeringAngle));
        return (deltaDistance * 360) / (2 * Math.PI * turningRadius);
    }

}