PxVehicleFourWheelDriveDifferentialLegacyParams

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h

struct PxVehicleFourWheelDriveDifferentialLegacyParams

Deprecated:

This API was introduced with the new Vehicle API for transition purposes but will be removed in a future version.

Public Types

enum Enum

Values:

enumerator eDIFF_TYPE_LS_4WD

enumerator eDIFF_TYPE_LS_FRONTWD

enumerator eDIFF_TYPE_LS_REARWD

enumerator eMAX_NB_DIFF_TYPES

Public Functions

inline PxVehicleFourWheelDriveDifferentialLegacyParams transformAndScale(

const PxVehicleFrame &srcFrame,

const PxVehicleFrame &trgFrame,

const PxVehicleScale &srcScale,

const PxVehicleScale &trgScale,

) const

inline bool isValid(const PxVehicleAxleDescription &axleDesc) const

Public Members

PxU32 frontWheelIds[2]

The two front wheels are specified by the array frontWheelIds.

Note

The states eDIFF_TYPE_LS_4WD, eDIFF_TYPE_LS_FRONTWD require knowledge of the front wheels to allow torque splits between front and rear axles as well as torque splits across the front axle.

Note

frontWheelIds[0] should specify the wheel on the front axle that is negatively placed on the lateral axis.

Note

frontWheelIds[1] should specify the wheel on the front axle that is positively placed on the lateral axis.

Note

If frontNegPosSplit > 0.5, more torque will be delivered to the wheel specified by frontWheelIds[0] than to the wheel specified by frontWheelIds[1]. The converse is true if frontNegPosSplit < 0.5.

PxU32 rearWheelIds[2]

The two rear wheels are specified by the array rearWheelIds.

Note

The states eDIFF_TYPE_LS_4WD, eDIFF_TYPE_LS_REARWD require knowledge of the rear wheels to allow torque splits between front and rear axles as well as torque splits across the rear axle.

Note

rearWheelIds[0] should specify the wheel on the rear axle that is negatively placed on the lateral axis.

Note

rearWheelIds[1] should specify the wheel on the rear axle that is positively placed on the lateral axis.

Note

If rearNegPosSplit > 0.5, more torque will be delivered to the wheel specified by rearWheelIds[0] than to the wheel specified by rearWheelIds[1]. The converse is true if rearNegPosSplit < 0.5.

PxReal frontRearSplit

Ratio of torque split between front and rear wheels (>0.5 means more front, <0.5 means more to rear).

Range: [0, 1]

Note

Only applied to DIFF_TYPE_LS_4WD

PxReal frontNegPosSplit

Ratio of torque split between front-negative and front-positive wheels (>0.5 means more to frontWheelIds[0], <0.5 means more to frontWheelIds[1]).

Range: [0, 1]

Note

Only applied to DIFF_TYPE_LS_4WD and DIFF_TYPE_LS_FRONTWD

PxReal rearNegPosSplit

Ratio of torque split between rear-negative wheel and rear-positive wheels (>0.5 means more to rearWheelIds[0], <0.5 means more to rearWheelIds[1]).

Range: [0, 1]

Note

Only applied to DIFF_TYPE_LS_4WD and eDIFF_TYPE_LS_REARWD

PxReal centerBias

Maximum allowed ratio of average front wheel rotation speed and rear wheel rotation speeds.

The differential will divert more torque to the slower wheels when the bias is exceeded.

Range: [1, inf)

Note

Only applied to DIFF_TYPE_LS_4WD

PxReal frontBias

Maximum allowed ratio of front-left and front-right wheel rotation speeds.

The differential will divert more torque to the slower wheel when the bias is exceeded.

Range: [1, inf)

Note

Only applied to DIFF_TYPE_LS_4WD and DIFF_TYPE_LS_FRONTWD

PxReal rearBias

Maximum allowed ratio of rear-left and rear-right wheel rotation speeds.

The differential will divert more torque to the slower wheel when the bias is exceeded.

Range: [1, inf)

Note

Only applied to DIFF_TYPE_LS_4WD and DIFF_TYPE_LS_REARWD

Enum type

Type of differential.

Range: [DIFF_TYPE_LS_4WD, eDIFF_TYPE_LS_REARWD]