struct s2_tire_pac2002_t

Overview

// fields

bool useTransientSlip
struct slips slips
struct model model
struct dimension dimension
struct shape shape
struct vertical vertical
struct long_slip_range long_slip_range
struct slip_angle_range slip_angle_range
struct inclination_angle_range inclination_angle_range
struct vertical_force_range vertical_force_range
struct scaling_coefficients scaling
struct longitudinal_coefficients longitudinal
struct overturning_coefficients overturning
struct lateral_coefficients lateral
struct rolling_coefficients rolling
struct aligning_coefficients aligning
struct thresholds thresholds
struct combinedLongCoefs combinedLong
struct combinedLatCoefs combinedLat
struct pureTorqueCoefs pureTorque
struct combinedTorqueCoefs combinedTorque
struct pureLongCoefs pureLong
struct pureLatCoefs pureLat
struct zetaCoefs zeta
struct bessel bessel
struct relaxationL relaxation
double timeLast
s2_screw_t force
s2_stackstr_t* wheelBody
s2_body_t* wheelBodyPointer
s2_screw_t velocityLocal
double r0
double rl
double rEff
double Fz
double dFz
double C_Fx
double C_Fy
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 fmCombinedLast
s2_screw_t fmCombined
s2_screw_t fmPureLast
s2_screw_t fmPure
s2_screw_t fmGlobal
double y [2]
double* dy

Detailed Documentation

Fields

double timeLast

time of last evaluation

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

double r0

undeformed radius

double rl

statically loaded radius

double rEff

effective radius

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* dy

initial states