Ackermann Steering

[Jskacines]

1. Read about ackermann steering
2. Update vehicle and test_vehicle.yaml to sweep through steer angles as a dimensionless parameter. Steered angle range should be (-1,1), and you should add a parameter to test_vehicle.yaml called "max steer angle".
3. Update steering() to account for ackermann using the dimensionless steering and max steer angle inputs. LMK if you need help deriving a formula for ackermann steer angle. You should end up with a steered angle for left and right tire.
4. Update calculation for slip angle with these independent L+R steer angles
5. Update steering rotation matricies OR rewrite tire_forces() so that a steering rotation matrix isn't necessary using something like scipy.spatial.transform.rotation