code: /*
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   */
  
  package de.delbrueg.steering.wheelAngle;
  
   /**
   * Calculates the quotient of trackWidth and radius of driveCircle
   * NEEDS A SIGNCORRECTOR!!! Because the result will always be positive!
    *
   * Formula out of Fahrwerktechnik Handbuch, page 91
    * 
   * @author Tim
   */
  public class ExtendedQuotientWheelAngle extends WheelAngleCalculator {
  
      /**
       * used to calculate the lateral acceleration
       */
      double lastLateralSpeed = 0;
  
      @Override
      public double getWheelTurnAngle() {
          double quot = data.trackWidth / data.driveCircle.getRadius();
          double mass = data.carMass / data.trackWidth;
          double lateralAcceleration = (data.lateralSpeed-lastLateralSpeed)/data.timeStep;
  
          return quot + mass*data.carPropSteeringFactor*lateralAcceleration;
      }
  
  }
  