ocd_drivetrain_rwd_lsd_cpp 2.0.0 Drivetrain Equations for a Rear Wheel Driven Car with LSD Simon Sagmeister Apache 2.0 ament_cmake Eigen3 tum_types_cpp param_management_cpp ocd_drivetrain_model_base_cpp ament_lint_auto ament_cmake_gtest ament_cmake_clang_format ament_cmake_cpplint ament_cmake