The focus here is on the description of internal wheel states. More...
Public Attributes | |
| optional uint32 | axle = 1 |
| optional uint32 | index = 2 |
| optional double | rotation_rate = 3 |
| optional double | slip = 4 |
Detailed Description
The focus here is on the description of internal wheel states.
Member Data Documentation
◆ axle
| optional uint32 osi3::HostVehicleData::VehicleWheels::WheelData::axle = 1 |
The axle which contains this wheel. A value of 0 represents the foremost axle of the vehicle, with higher numbers ascending towards the rearmost axle.
◆ index
| optional uint32 osi3::HostVehicleData::VehicleWheels::WheelData::index = 2 |
The index of the wheel on the axle, counted in positive y- direction, that is, right-to-left.
For example, on a standard 2-axle, 4-wheel car, the rear-right wheel would be (axle=1, index=0). This concept also works for twin tires.
◆ rotation_rate
| optional double osi3::HostVehicleData::VehicleWheels::WheelData::rotation_rate = 3 |
Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel. The rotation rate around the y-axis with respect to the wheel's coordinate system.
Unit: rad/s.
The sign convention is defined using the right-hand rule. It is applied on the y-axis of the vehicle's reference system, that is, the center of bounding box. Counterclockwise is positive and clockwise is negative.
- Note
- The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.
◆ slip
| optional double osi3::HostVehicleData::VehicleWheels::WheelData::slip = 4 |
Contains the longitudinal, measured slip of the tire.
Unit: %
The sign convention is defined using the right-hand rule. It is applied on the y-axis of the vehicle's reference system, that is, the center of bounding box. Counterclockwise is positive and clockwise is negative.
The documentation for this struct was generated from the following file:
- osi_hostvehicledata.proto
