PxVehicleDirectDriveThrottleCommandResponseParams
Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h
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struct PxVehicleDirectDriveThrottleCommandResponseParams : public PxVehicleCommandResponseParams
Distribute a throttle response to the wheels of a direct drive vehicle.
Note
The drive torque applied to each wheel on the ith axle is throttleCommand * maxResponse * wheelResponseMultipliers[i].
Note
A typical use case is to set maxResponse to be the vehicle’s maximum achievable drive torque that occurs when the steer command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used to specify the maximum achievable drive torque per wheel as a fractional multiplier of the vehicle’s maximum achievable steer angle.
Public Functions
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inline PxVehicleDirectDriveThrottleCommandResponseParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const
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inline bool isValid(const PxVehicleAxleDescription &axleDesc) const
Public Members
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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.
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PxReal wheelResponseMultipliers[PxVehicleLimits::eMAX_NB_WHEELS]
A description of the per wheel response multiplier to an input command.
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inline PxVehicleDirectDriveThrottleCommandResponseParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const