code: public SteeringAcceleration<T> calculateSteering (SteeringAcceleration<T> steering) {
  		return isEnabled() ? calculateRealSteering(steering) : steering.setZero();
  	}
docs: If this behavior is enabled calculates the steering acceleration and writes it to the given steering output. If it is
  disabled the steering output is set to zero.
  @param steering the steering acceleration to be calculated.
  @return the calculated steering acceleration for chaining.