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:

[legend]

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:

Public Attributes