1. Basic
Goal:
- FK
- IK
Math:
- Wheel
- w: angular speed
- v: linear speed
- Frame
- world
- vehicle
- steer
- contact
- Car:
- Yaw: defined by the car pose and world frame
- Heading: defined by the path
- Curvature: the 2nd directvie of path
2. Steering
More freedom joint $\to$ over determined configuration
ICR: instance center of rotation
ALL motion can be considered as a rotation around some point
3. FK
