Road wheel angle from steering wheel angle

Calculates steering ratio from steering wheel angle and road wheel angle.

Solves the steering wheel angle required for a target road wheel angle and steering ratio.

Solves road wheel angle from turning radius and wheelbase.

Calculates turning radius from wheelbase and road wheel steer angle.

Calculates the difference between inner and outer Ackermann angles.

Solves the Ackermann inner angle from outer angle, wheelbase, and track width.