chrono::vehicle::WheelState Struct Reference


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

ChVector3d pos
 global position
ChQuaternion rot
 orientation with respect to global frame
ChVector3d lin_vel
 linear velocity, expressed in the global frame
ChVector3d ang_vel
 angular velocity, expressed in the global frame
double omega
 wheel angular speed about its rotation axis

The documentation for this struct was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono_vehicle/ChSubsysDefs.h