45 #ifndef DW_RIG_VEHICLE_H_ 46 #define DW_RIG_VEHICLE_H_ 54 #define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U 55 #define DW_VEHICLE_MAX_NUM_TRAILERS 1U 126 #define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U 373 #endif // DW_RIG_VEHICLE_H_ dwVehicleTorqueLUT torqueLUT
Torque lookup tables.
float32_t brakeActuatorTimeConstant
Time constant for first order + time delay brake system [s].
dwVehicleTrailerType type
Trailer type, either full or semi, indicates presence of front axle.
NVIDIA DriveWorks API: Core Types
float32_t length
Length of the bounding box (longitudinal dimension, along X) [m].
float32_t corneringStiffness
Cornering stiffness for a single tire [N/rad].
float float32_t
Specifies POD types.
Physical properties of a vehicle body.
dwVector3f boundingBoxPosition
Position of bounding box origin in body coordinate system [m].
float32_t maxSteeringWheelAngle
Maximum steering wheel angle [rad].
Defines a three-element floating-point vector.
uint32_t numTrailers
Number of trailer units.
dwVector3f inertia
Principal moments of inertia with respect to center of mass [kg m^2].
dwVehicleAxleProperties axleRear
Properties of the rear axle group [m].
dwVehicleCabin cabin
Properties of an optional floating cabin attached to the base body.
float32_t width
Width of the bounding box (lateral dimension, along Y) [m].
float32_t track
Width of the axle, measured between center line of wheels [m].
Vehicle actuation properties.
dwVehicleTrailerType
Supported trailer types.
float32_t frontCorneringStiffness
float32_t centerOfMassToRearAxle
bool hasCabin
Indicates presence of a cabin.
dwVehicleAxleProperties axleRear
Properties of the rear axle group [m].
dwVehicleActuationProperties actuation
Vehicle actuation properties.
dwVehicleBodyProperties body
Properties of the base body (passenger car body, truck tractor chassis)
dwVector3f leadingVehicleHingePosition
Position of leading vehicle hinge attach point in leading vehicle coordinate system (DW_COORDINATE_SY...
dwVehicleAxleProperties axleFront
Properties of the front (steering) axle [m].
float32_t driveByWireTimeDelay
Time delay for first order + time delay drive-by-wire / steer-by-wire [s].
float32_t height
Height of the bounding box (vertical dimension, along Z) [m].
#define DW_VEHICLE_MAX_NUM_TRAILERS
float32_t driveByWireTimeConstant
float32_t driveByWireTimeDelay
#define DW_DEPRECATED(msg)
Trailer that has both front and rear axles.
dwVehicleBodyProperties body
Properties of the cabin body.
#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE
dwVector3f trailingVehicleHingePosition
Position of trailing vehicle hinge attach point in trailer coordinate system (DW_COORDINATE_SYSTEM_VE...
dwVehicleArticulationProperties articulation
Articulation linking trailer to leading vehicle unit.
dwVehicleWheels
Define index for each of the wheels on a 4 wheeled vehicle.
dwVehicleBodyProperties body
Properties of the trailer body.
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE
Properties of an axle and its wheels.
Properties of an articulation linking two vehicle units.
dwVector3f centerOfMass
Position of center of mass in body coordinate system [m].
Number of wheels describing the vehicle.
float32_t rearCorneringStiffness
float32_t effectiveMass
Effective mass due to rotational inertia (wheel, engine, and other parts of the CVT drivetrain) [kg]...
float32_t steeringCoefficient
float32_t widthWithMirrors
float32_t brakeActuatorTimeDelay
Time delay for first order + time delay brake system [s].
float32_t position
Position of axle midpoint along X-axis in corresponding vehicle coordinate system (DW_COORDINATE_SYST...
Vehicle cabin description.
float32_t driveByWireTimeConstant
Time constant for first order + time delay drive-by-wire / steer-by-wire [s].
float32_t throttleActuatorTimeDelay
Time delay for first order + time delay throttle system [s].
dwVehicleAxleProperties axleFront
Properties of the front (steering) axle [m].
float32_t wheelRadiusRight
Radius of right wheel, when facing towards the forward direction of the vehicle [m].
Throttle and brake state (input) to longitudinal force (output) lookup tables.
float32_t throttleActuatorTimeConstant
Time constant for first order + time delay throttle system [s].
float32_t wheelRadiusLeft
Radius of left wheel, when facing towards the forward direction of the vehicle [m].
DEPRECATED: Properties of a passenger car vehicle.
float32_t widthWithoutMirrors
Width of the body without any side-mirrors, if applicable, otherwise same as width.