PxVehicleTankDriveTransmissionCommandState
Defined in include/vehicle2/commands/PxVehicleCommandStates.h
Inheritance Relationships
Base Type
public PxVehicleEngineDriveTransmissionCommandState(PxVehicleEngineDriveTransmissionCommandState)
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struct PxVehicleTankDriveTransmissionCommandState : public PxVehicleEngineDriveTransmissionCommandState
A description of the state of transmission-related commands that are applied to a vehicle with tank drive.
Public Types
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enum Enum
Values:
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enumerator eAUTOMATIC_GEAR
Special gear value to denote the automatic shift mode (often referred to as DRIVE).
When using automatic transmission, setting this value as target gear will enable automatic gear shifts between first and highest gear. If the current gear is a reverse gear or the neutral gear, then this value will trigger a shift to first gear. If this value is used even though there is no automatic transmission available, the gear state will remain unchanged.
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enumerator eAUTOMATIC_GEAR
Public Functions
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inline void setToDefault()
Public Members
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PxReal thrusts[2]
The wheels of each tank track are either all connected to thrusts[0] or all connected to thrusts[1].
Note
The thrust commands are used to divert torque from the engine to the wheels of the tank tracks controlled by each thrust.
Note
thrusts[0] and thrusts[1] are in range [-1,1] with the sign dictating whether the thrust will be applied positively or negatively with respect to the gearing ratio.
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enum Enum