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Steering
%Ackerman
%Ackerman is calculated using the following formula.
Inside Steer vs Outside Steer
This is inside wheel steer angle divide by the outside wheel steer angle. A ratio of 1 means that the inside wheel will have the same steer angle as the outside wheel for a given steering wheel input. If the ratio is less than 1 the inside wheel will have a smaller steer angle than the outside wheel for a given steering wheel input. If the ratio is greater than 1 the inside wheel will have a larger steer angle than the outside wheel for a given steering wheel input.
Turn Instant Center
The turn instant center is found by modeling the vehicle as a bicycle model where the front and rear toe angles are equal to the average of the corresponding left and right wheel toe angles. Two lines are drawn perpendicular to the front and rear wheel center planes. The intersection of these two lines is the turn instant center.
Turn Instant Radius
The turn instant radius is the distance from the turn instant center to the middle of the wheelbase.
A full list of output channels can be found here.
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