/// <summary>
/// right angle of ackermann steering in degrees
/// </summary>
/// <param name="rearTrack"></param>
/// <param name="wheelBase"></param>
/// <param name="turnRadius"></param>
/// <returns>angle</returns>
public static double AckermannRight(float rearTrack, float wheelBase, float turnRadius)
{
var right = Math.Atan(wheelBase / (turnRadius - rearTrack / 2));
return(Maths.RadToDeg(right));
}
/// <summary>
/// left angle of ackermann steering in degrees
/// </summary>
/// params in metres
/// <param name="rearTrack"></param>
/// <param name="wheelBase"></param>
/// <param name="turnRadius"></param>
///
/// <returns>angle</returns>
public static double AckermannLeft(float rearTrack, float wheelBase, float turnRadius)
{
var left = Math.Atan(wheelBase / (turnRadius + rearTrack / 2));
return(Maths.RadToDeg(left));
}