PxVehicleAckermannSteerUpdate

void PxVehicleAckermannSteerUpdate(const PxReal steer, const PxVehicleSteerCommandResponseParams &steerResponseParams, const PxVehicleSizedArrayData<const PxVehicleAckermannParams> &ackermannParams, PxVehicleArrayData<PxReal> &steerResponseStates)

Account for Ackermann correction by modifying the per wheel steer response multipliers to engineer an asymmetric steer response across axles.

Parameters

steer – [in] is the input steer command value.
steerResponseParams – [in] describes the maximum response and a response multiplier per axle.
ackermannParams – [in] is an array that describes the wheels affected by Ackermann steer correction.
steerResponseStates – [inout] contains the corrected per wheel steer response multipliers that take account of Ackermann steer correction.