PxVehicleSteerCommandResponseParams

Defined in include/vehicle2/steering/PxVehicleSteeringParams.h

struct PxVehicleSteerCommandResponseParams : public PxVehicleCommandResponseParams

Distribute a steer response to the wheels of a vehicle.

Note

The steer angle applied to each wheel on the ith wheel is steerCommand * maxResponse * wheelResponseMultipliers[i].

Note

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

Public Functions

inline PxVehicleSteerCommandResponseParams 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.