PxVehicleComputeWheelPose

Defined in include/vehicle2/wheel/PxVehicleWheelHelpers.h

inline PxTransform PxVehicleComputeWheelPose(

const PxVehicleFrame &frame,

const PxVehicleSuspensionParams &suspensionParams,

const PxVehicleSuspensionState &suspensionState,

const PxReal camberAngle,

const PxReal toeAngle,

const PxReal steerAngle,

const PxTransform &rigidBodyPose,

const PxReal rotationAngle,

)

Compute the pose of the wheel in the world frame.

Parameters:

• frame – [in] describes the longitudinal and lateral axes of the vehicle.

• suspensionParams – [in] describes the suspension and wheel frames.

• suspensionState – [in] is the compression state of the suspenson.

• camberAngle – [in] is the camber angle in radian induced by suspension compliance.

• toeAngle – [in] is the toe angle in radians induced by suspension compliance.

• steerAngle – [in] is the steer angle in radians applied to the wheel.

• rigidBodyPose – [in] is the pose of the rigid body in the world frame.

• rotationAngle – [in] is the angle around the wheel’s lateral axis.

Returns:

The pose of the wheel in the world frame.