libackermann

General purpose Ackermann steering utilities for ISC projects

This library does not use ROS directly, so it should be usable on constrained platforms.

Features:

• Ackermann to twist conversion
• Twist to ackermann conversion
• (Inverse) Steering ratio functions for ISC projects

Units

This library uses the convention of:

• distances in meters
• angles in radians, where left is positive

Use in your Cmake project

To use libackermann in your Cmake projects (ROS included), add to your CmakeLists.txt:

include(FetchContent)
FetchContent_Declare(
        libackermann
        GIT_REPOSITORY https://github.com/iscumd/libackermann.git
)
FetchContent_MakeAvailable(libackermann)

target_link_libraries({$PROJECT} libackermann)

Note that in ROS, you must apply target_link_libraries({$PROJECT} libackermann) to any unit tests you have aswell, since they are seperate executables under the hood, and libackermann will not be automagically applied like ament packages will.

Headers

Header	contains
libackermann/libackermann.hpp	Meta header than includes all others.
libackermann/types.hpp	Command type definitions.
libackermann/conversions.hpp	Conversions between command types.
libackermann/steering_ratio.hpp	Steering ratio functions for various ISC projects.

See tests for example use cases.