PxVehicleAckermannParams

Defined in include/vehicle2/steering/PxVehicleSteeringParams.h

struct PxVehicleAckermannParams

A description of a single axle that is to be affected by Ackermann steer correction.

Public Functions

inline bool isValid(const PxVehicleAxleDescription &axleDesc) const

inline PxVehicleAckermannParams transformAndScale(

const PxVehicleFrame &srcFrame,

const PxVehicleFrame &trgFrame,

const PxVehicleScale &srcScale,

const PxVehicleScale &trgScale,

) const

Public Members

PxU32 wheelIds[2]

wheelIds[0] is the id of the wheel that is negative along the lateral axis, wheelIds[1] is the wheel id that is positive along the lateral axis.

PxReal wheelBase

wheelBase is the longitudinal distance between the axle that is affected by Ackermann correction and a reference axle.

PxReal trackWidth

trackWidth is the width of the axle specified by wheelIds

PxReal strength

is the strength of the correction with 0 denoting no correction and 1 denoting perfect correction.