chrono::vehicle::WheelState Struct Reference

Description

Structure to communicate a full wheel body state.

In addition to the quantities communicated for a generic body, the wheel state also includes the wheel angular speed about its axis of rotation.

#include <ChSubsysDefs.h>

Collaboration diagram for chrono::vehicle::WheelState:

Public Attributes

ChVector pos
 global position
 
ChQuaternion rot
 orientation with respect to global frame
 
ChVector lin_vel
 linear velocity, expressed in the global frame
 
ChVector ang_vel
 angular velocity, expressed in the global frame
 
double omega
 wheel angular speed about its rotation axis