PxVehicleAckermannSteerUpdate

Defined in include/vehicle2/steering/PxVehicleSteeringFunctions.h

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.