PxVehicleDifferentialStateUpdate

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleDifferentialStateUpdate(

const PxVehicleAxleDescription &axleDescription,

const PxVehicleArrayData<const PxVehicleWheelParams> &wheelParams,

const PxVehicleTankDriveDifferentialParams &diffParams,

const PxReal thrustCommand0,

PxReal thrustCommand1,

PxVehicleDifferentialState &diffState,

PxVehicleWheelConstraintGroupState &wheelConstraintGroupState,

)

Compute the fraction of available torque to be delivered to each wheel and gather a list of all wheels connected to the differential.

Parameters:

• axleDescription – [in] is a decription of the axles of the vehicle and the wheels on each axle.

• wheelParams – [in] is an array that describes the wheel radius of each wheel.

• diffParams – [in] specifies the operation of a tank differential.

• thrustCommand0 – [in] is the state of one of the two thrust controllers.

• thrustCommand1 – [in] is the state of one of the two thrust controllers.

• diffState – [out] contains the fraction of available drive torque to be delivered to each wheel connected to the differential.

• wheelConstraintGroupState – [out] describes the groups of wheels connected by sharing a tank track.