track

Track Kinematics Module.

Provides a kinematic model for calculating the motion state of a tracked vehicle.

类：

名称	描述
`TrackKinematics`	Track kinematics class.

TrackKinematics

TrackKinematics(params: VehicleParams | None = None)

Track kinematics class.

Encapsulates global parameters within the class to avoid side effects during import and allows different instances to use different parameters.

参数：

名称	类型	描述	默认
`params`	`VehicleParams \| None`	Vehicle parameter configuration object. If not provided, it instantiates with default parameters.	`None`

方法：

名称	描述
`step_track_kinematics`	Performs a single-step integration using the 4th-order Runge-Kutta (RK4) solver.

step_track_kinematics(state, Fx1, Fx2, Fy1, Fy2, Mr1, Mr2, Md1, Md2, R1, R2)

Performs a single-step integration using the 4th-order Runge-Kutta (RK4) solver.

Calculates the new kinematic state after a time step dt based on the input force parameters and the current state.

参数：

名称	类型	描述	默认
`state`	`list or ndarray`	Current state vector [vx, vy, omega].	必需
`Fx1`	`float`	Left longitudinal force.	必需
`Fx2`	`float`	Right longitudinal force.	必需
`Fy1`	`float`	Left lateral force.	必需
`Fy2`	`float`	Right lateral force.	必需
`Mr1`	`float`	Left resistance moment.	必需
`Mr2`	`float`	Right resistance moment.	必需
`Md1`	`float`	Left driving moment.	必需
`Md2`	`float`	Right driving moment.	必需
`R1`	`float`	Left resistance.	必需
`R2`	`float`	Right resistance.	必需

返回：

类型	描述
	np.ndarray: New state vector [vx, vy, omega] after dt time.