@sh.add_function(dsp, outputs=['wheel_speeds'])
def calculate_wheel_speeds(velocities, r_dynamic):
"""
Calculates rotating speed of the wheels [RPM].
:param velocities:
Vehicle velocity [km/h].
:type velocities: numpy.array | float
:param r_dynamic:
Dynamic radius of the wheels [m].
:type r_dynamic: float
:return:
Rotating speed of the wheel [RPM].
:rtype: numpy.array | float
"""
return _compile_speed_function(r_dynamic)(velocities)