- #1
xXNightEagleXx
- 3
- 0
β is vehicle sideslip (angle between velocity and vehicle forward vector) ψ the angle between the trajectory tangent and vehicle forward vector. I have this equation that says
Vx * k * (cos ψ - tan β * sin ψ)
where k is trajectory curvature (1 / r) at point p.
Now i must say that I'm not proficient with compound angles at all, so I'm struggling to understand if everything inside the parenthesis is basically a compound angle. Moreover I'm struggling to visualize its geometric meaning.
Can anyone try to help me out with this one?
(I believe that k just acts as a multiplier according to the curvature so it's not the problem itself)
Thanks in advance