PxVehicleBrakeCommandResponseParams

Defined in include/vehicle2/braking/PxVehicleBrakingParams.h

struct PxVehicleBrakeCommandResponseParams : public PxVehicleCommandResponseParams

Distribute a brake response to the wheels of a vehicle.

Note

The brake torque of each wheel on the ith wheel is brakeCommand * maxResponse * wheelResponseMultipliers[i].

Note

A typical use case is to set maxResponse to be the vehicle’s maximum achievable brake torque that occurs when the brake command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used to specify the maximum achievable brake torque per wheel as a fractional multiplier of the vehicle’s maximum achievable brake torque.

Public Functions

inline PxVehicleBrakeCommandResponseParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const

inline bool isValid(const PxVehicleAxleDescription &axleDesc) const

Public Members

PxVehicleCommandNonLinearResponseParams nonlinearResponse

A nonlinear response to command value expressed as a lookup table of normalized response as a function of command value and longitudinal speed.

Note

The effect of the default state of nonlinearResponse is a linear response to command value that is independent of longitudinal speed.

PxReal wheelResponseMultipliers[PxVehicleLimits::eMAX_NB_WHEELS]

A description of the per wheel response multiplier to an input command.

PxF32 maxResponse

The maximum response that occurs when the wheel response multiplier has value 1.0 and nonlinearResponse is in the default state of linear response.