idea of a 2 axes model of a carlike driven robot

I like to implement a better  model for driven a robot.
I looked in the sourcecode of stage in class ModelPosition and found only 
easy models of movement.
But my robot now needs a real carlike driving model, with 2 axes.
So i think to build this new functionality and create a new class ,inhirate
from ModelPosition Class and adding yaw or stearing.

and reimplement  ModelPosition::Update( void  ) in my new class 

adapt the switch cases
switch( control_mode )
   case CONTROL_VELOCITY 
   case CONTROL_POSITION
     ...


but I don't know how to get my model.cfg using this new functions, and how
to get Stage to update with the new carmodel

some ideas
thx
danny
[email protected]


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