added scout_params class

scout_base/include/scout_base/scout_params.hpp

@@ -0,0 +1,35 @@
+/* 
+ * scout_params.hpp
+ * 
+ * Created on: Sep 27, 2019 15:08
+ * Description: 
+ * 
+ * Copyright (c) 2020 Ruixiang Du (rdu)
+ */ 
+
+#ifndef SCOUT_PARAMS_HPP
+#define SCOUT_PARAMS_HPP
+
+#include <cstdint>
+
+namespace westonrobot
+{
+struct ScoutParams
+{
+    /* Scout Parameters */
+    static constexpr double max_steer_angle = 30.0; // in degree
+
+    static constexpr double track = 0.576;        // in meter (left & right wheel distance)
+    static constexpr double wheelbase = 0.648;    // in meter (front & rear wheel distance)
+    static constexpr double wheel_radius = 0.165; // in meter
+
+    // from user manual v1.2.8 P18
+    // max linear velocity: 1.5 m/s
+    // max angular velocity: 0.7853 rad/s
+    static constexpr double max_linear_speed = 1.5;  // in m/s
+    static constexpr double max_angular_speed = 0.7853; // in rad/s
+    static constexpr double max_speed_cmd = 10.0;       // in rad/s
+};
+} // namespace westonrobot
+
+#endif /* SCOUT_PARAMS_HPP */