How to transform β and yaw?

[GuancongLuo]

Hi, Derekabc

Thank you for your share.

When I read the 'bicylemodel.py', I find 'def update' without β in 'class LinearbicycleModel(object)'.

def update(self, throttle, delta):

    delta = np.clip(delta, -max_steer, max_steer)

    self.x += self.v * np.cos(self.yaw) * dt
    self.y += self.v * np.sin(self.yaw) * dt
    self.yaw += self.v / L * np.tan(delta) * dt
    self.yaw = normalize_angle(self.yaw)
    self.v += throttle * dt

Could you tell me how to transform β only for yaw?

[DongChen06]

hi GuancongLuo, you can check the model here. linear bicycle model

Of course you can add β to the model as mentioned in this tutorial. . I used the case "Rear Axle Bicycle Model" mentioned in that tutorial. I hope it helps.