PxVehicleComputeWheelPose

Defined in include/vehicle2/wheel/PxVehicleWheelHelpers.h

inline PxTransform PxVehicleComputeWheelPose(const PxVehicleFrame &frame, const PxVehicleSuspensionParams &suspensionParams, const PxVehicleSuspensionState &suspensionState, const PxVehicleSuspensionComplianceState &suspensionComplianceState, const PxReal steerAngle, const PxTransform &rigidBodyPose, const PxVehicleWheelRigidBody1dState &wheelState)

Compute the pose of the wheel in the world frame.

Parameters

  • frame – [in] describes the longitudinal and lateral axes of the vehicle.

  • suspensionParams – [in] describes the suspension and wheel frames.

  • suspensionState – [in] is the compression state of the suspenson.

  • suspensionComplianceState – [in] is the camber and toe angles induced by suspension compliance.

  • steerAngle – [in] is the steer angle in radians applied to the wheel.

  • rigidBodyPose – [in] is the pose of the rigid body in the world frame.

  • wheelState – [in] is angle around the wheel’s lateral axis.

Returns

The pose of the wheel in the world frame.