struct s2_tire_fiala_t

Overview

// fields

double verticalStiffness
double verticalDamping
double r0
double rollingResistance
double width
double cslip
double calpha
double uMax
double uMin
double xRelaxationLength
double yRelaxationLength
s2_screw_t force
s2_stackstr_t* wheelBody
s2_body_t* wheelBodyPointer
s2_screw_t velocityLocal
s2_vector_t wheelNormal
s2_vector_t terrainNormal
s2_vector_t xDirection
s2_vector_t yDirection
double omega
double slipAngle
double longitudinalSlip
double camberAngle
double depth
s2_displacement_t wFrame
s2_displacement_t contactFrame
bool inContact
s2_screw_t fLocal
s2_screw_t fGlobal
double y [2]
double* dy

Detailed Documentation

Fields

double r0

unloaded radius

s2_screw_t force

reaction force in w frame

s2_stackstr_t* wheelBody

linked list of char arrays representing path to wheel body in assembly hierarchy

s2_body_t* wheelBodyPointer

pointer to wheel body

s2_screw_t velocityLocal

velocity screw expressed in frame w

s2_vector_t wheelNormal

wheel normal expressed in global frame

s2_vector_t terrainNormal

terrain normal at wheel location

s2_vector_t xDirection

longitudinal heading in terrain plane

s2_vector_t yDirection

lateral direction in terrain plane

double depth

penetration depth

s2_displacement_t contactFrame

frame of contact patch following ISO conventions, forces are computed in w frame

double y [2]

store a copy of initial conditions here

double* dy

pointer to yp array, to be set in s2_forcemodule_connect() function