├── .clang-format ├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json ├── extensions.json ├── launch.json ├── launch_template.jsonc ├── settings.json ├── settings_template.jsonc └── tasks.json ├── CPPLINT.cfg ├── Dockerfile ├── LICENSE ├── README.md ├── config ├── example_config.yml └── example_road_tire.tir ├── doc ├── Model_Composition.drawio.svg └── vehicle_model_node.svg ├── run_in_container.sh ├── src ├── dependencies │ ├── param_manager_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── param_manager_cpp │ │ │ │ ├── param_manager.hpp │ │ │ │ ├── param_manager_base.hpp │ │ │ │ ├── param_manager_composer.hpp │ │ │ │ └── param_manager_non_owning.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── param_manager.cpp │ │ │ ├── param_manager_composer.cpp │ │ │ └── param_manager_non_owning.cpp │ └── tum_types_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ └── tum_types_cpp │ │ │ ├── common.hpp │ │ │ ├── control.hpp │ │ │ └── data_per_wheel.hpp │ │ └── package.xml ├── double_track_model │ ├── base_classes │ │ └── vehicle_model_base_cpp │ │ │ ├── .vscode │ │ │ ├── c_cpp_properties.json │ │ │ └── settings.json │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── include │ │ │ └── vehicle_model_base_cpp │ │ │ │ └── vehicle_model_base.h │ │ │ └── package.xml │ ├── common │ │ └── tum_sim_types_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── include │ │ │ └── tum_sim_types_cpp │ │ │ │ └── types.hpp │ │ │ └── package.xml │ └── implementations │ │ ├── simple_drivetrain_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── simple_drivetrain_cpp │ │ │ │ ├── drivetrain_simple_eqns.hpp │ │ │ │ └── drivetrain_simple_model.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── drivetrain_simple_eqns.cpp │ │ │ └── drivetrain_simple_model.cpp │ │ ├── vehicle_dynamics_double_track_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── vehicle_dynamics_double_track_cpp │ │ │ │ ├── vehicle_dynamics_equations.hpp │ │ │ │ └── vehicle_dynamics_model.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── vehicle_dynamics_equations.cpp │ │ │ └── vehicle_dynamics_model.cpp │ │ ├── vehicle_dynamics_helpers_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── vehicle_dynamics_helpers_cpp │ │ │ │ ├── aerodynamics.hpp │ │ │ │ ├── steering_actuator.hpp │ │ │ │ ├── time_delay.hpp │ │ │ │ └── tire_models.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── aerodynamics.cpp │ │ │ ├── steering_actuator.cpp │ │ │ └── tire_models.cpp │ │ └── vehicle_model_double_track_cpp │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ └── vehicle_model_double_track_cpp │ │ │ ├── double_track_model.hpp │ │ │ └── numerical.hpp │ │ ├── package.xml │ │ └── src │ │ └── double_track_model.cpp └── ros_integration │ ├── msgs │ └── tum_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── TUMDebugSignalNames.msg │ │ ├── TUMDebugValues.msg │ │ ├── TUMExternalVehicleInfluences.msg │ │ ├── TUMFloat64PerWheel.msg │ │ └── TUMFloat64PerWheelStamped.msg │ │ └── package.xml │ ├── ros_debug_helpers_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── ros_debug_helpers_cpp │ │ │ └── debug_publisher.hpp │ ├── package.xml │ └── src │ │ └── debug_publisher.cpp │ ├── ros_param_helpers_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── ros_param_helpers_cpp │ │ │ └── helper_functions.hpp │ ├── package.xml │ └── src │ │ └── helper_functions.cpp │ ├── tum_type_conversions_ros_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── tum_type_conversions_ros_cpp │ │ │ ├── helpers │ │ │ └── type_conversion.hpp │ │ │ ├── orientation.hpp │ │ │ └── tum_type_conversions.hpp │ ├── package.xml │ └── src │ │ ├── orientation.cpp │ │ └── tum_type_conversions.cpp │ └── vehicle_model_nodes │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── vehicle_model_nodes │ │ ├── helpers.hpp │ │ └── vehicle_model_node.hpp │ ├── package.xml │ └── src │ ├── CMakeLists.txt │ ├── executables │ └── 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