[STEERING] Add missing tan call for ackermann

[qinqon]

The steering library is missing a call to calculate tangent from steering pos at ackermann code.

[qinqon]

@saikishor FYI

[saikishor]

@qinqon It would be great if you can also update the docs with some references to the actual math, so we can avoid this in future.

Will you be able to add some tests?

[qinqon]

@qinqon It would be great if you can also update the docs with some references to the actual math, so we can avoid this in future.

Do you know if the original author added some reference somewhere ?

Will you be able to add some tests?

Yep, will do that too.

[christophfroehlich]

Regarding docs: No, the original author did not include any. Please have a look at #954 and review what I've written there.

[qinqon]

Regarding docs: No, the original author did not include any. Please have a look at #954 and review what I've written there.

Ahh that's much needed, thanks.

@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

[christophfroehlich]

@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

Please open a separate issue and propose your changes. I also had a rewrite of the steering library in mind, maybe we can find a proper way going forward. We can also discuss this on slack, I can add ellorent@redhat.com if you want?

[qinqon]

@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

Please open a separate issue and propose your changes. I also had a rewrite of the steering library in mind, maybe we can find a proper way going forward. We can also discuss this on slack, I can add ellorent@redhat.com if you want?

Can you add me with my personal email ? quique.llorente@gmail.com

[christophfroehlich]

@qinqon this is still missing?

[mergify]

This pull request is in conflict. Could you fix it @qinqon?