PxVehicleDirectDriveThrottleCommandResponseParams

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h

struct PxVehicleDirectDriveThrottleCommandResponseParams : public PxVehicleCommandResponseParams

Distribute a throttle response to the wheels of a direct drive vehicle.

Note

The drive torque applied to each wheel on the ith axle is throttleCommand * maxResponse * wheelResponseMultipliers[i].

Note

A typical use case is to set maxResponse to be the vehicle’s maximum achievable drive torque that occurs when the steer command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used to specify the maximum achievable drive torque per wheel as a fractional multiplier of the vehicle’s maximum achievable steer angle.

Public Functions

inline PxVehicleDirectDriveThrottleCommandResponseParams transformAndScale(

const PxVehicleFrame &srcFrame,

const PxVehicleFrame &trgFrame,

const PxVehicleScale &srcScale,

const PxVehicleScale &trgScale,

) const

inline bool isValid(const PxVehicleAxleDescription &axleDesc) const

Public Members

PxVehicleCommandNonLinearResponseParams nonlinearResponse

A nonlinear response to command value expressed as a lookup table of normalized response as a function of command value and longitudinal speed.

Note

The effect of the default state of nonlinearResponse is a linear response to command value that is independent of longitudinal speed.

PxReal wheelResponseMultipliers[PxVehicleLimits::eMAX_NB_WHEELS]

A description of the per wheel response multiplier to an input command.

PxF32 maxResponse

The maximum response that occurs when the wheel response multiplier has value 1.0 and nonlinearResponse is in the default state of linear response.