What should this be doing?
We need to project any ego point on the vehicle, generally defined as the axes, into the future by some amount based on current knowledge. This is especially important for articulated vehicles as there is a temporal component associated with changing steering angle. So when projecting forward to check for collisions or optimal planning, we need to account for the rotation rate of the vehicle's steering joint in time.
What should this be doing?
We need to project any ego point on the vehicle, generally defined as the axes, into the future by some amount based on current knowledge. This is especially important for articulated vehicles as there is a temporal component associated with changing steering angle. So when projecting forward to check for collisions or optimal planning, we need to account for the rotation rate of the vehicle's steering joint in time.