CarModel.h

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#ifndef CARMODEL_H_
#define CARMODEL_H_

#include <pses_simulation/ForwardKinematics.h>
#include <iostream>
#include <geometry_msgs/Twist.h>
#include <memory.h>
#include <ros/ros.h>

typedef geometry_msgs::Twist twist_msg;
typedef std::shared_ptr<std::vector<double>> pose_ptr;
class CarModel
{
public:
  CarModel(const double dAxis, const ros::Time& time,
           std::vector<double> initialPose = std::vector<double>(3, 0),
           const double vMax = 2.0, const double angleMax = 22.5,
           const double speedMax = 20, const double steeringMax = 50);
  const pose_ptr getUpdate(const int newSteering, const int newSpeed,
                           const ros::Time& time);
  const pose_ptr getUpdateTwist(const twist_msg cmd_vel, const ros::Time& time);
  const int getSteering() const;
  const double getSteeringAngle() const;
  const double getTimeStep() const;
  const double getVelocity() const;
  const double getAngularVelocity() const;
  const double getDistance() const;
  const double getVx() const;
  const double getVy() const;
  const double getAx() const;
  const double getAy() const;

private:
  ForwardKinematics fwdKin; 
  ros::Time lastUpdate;     
  double vMax;              
  double angleMax;          
  double speedMax;          
  double steeringMax;       
  int steering;             
  double steeringAngle;     
  double timeStep;          
  double velocity;          
  double distance;          
  std::vector<double> pose; 
  double angularVelocity;   
  double v_x; 
  double v_y; 
  double a_x; 
  double a_y; 
  void steeringToAngle();
  void angleToSteering(const double alpha);
  void setSteering(const int steering);
  void setVelocity(const double newVel);
  void speedToVelocity(const int speed);
  void setAngularVelocity(const double oldYaw);
  void setVelocityComponents();
  void setAccelerationComponents(const double prevV);
};

#endif /* CARMODEL_H_ */