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

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