agxVehicle::SteeringParameters Struct Reference

#include <SteeringParameters.h>

Static Public Member Functions
static SteeringParameters	Ackermann (agx::Real phi0=agx::degreesToRadians(-115.0), agx::Real l=0.16, agx::Real alpha0=agx::degreesToRadians(0), agx::Real lc=0, agx::Real lr=0, agx::Real gear=1.0, agx::UInt side=0)
	Ackermann steering configuration parameters.
static SteeringParameters	BellCrank (agx::Real phi0=agx::degreesToRadians(-108.0), agx::Real l=0.14, agx::Real alpha0=agx::degreesToRadians(0), agx::Real lc=1.0, agx::Real lr=0, agx::Real gear=1.0, agx::UInt side=0)
	Bell Crank steering configuration parameters.
static SteeringParameters	Davis (agx::Real phi0=agx::degreesToRadians(104.0), agx::Real l=0.14, agx::Real alpha0=agx::degreesToRadians(76.0), agx::Real lc=-2.0, agx::Real lr=0.75, agx::Real gear=1.0, agx::UInt side=0)
	Davis steering configuration parameters.
static SteeringParameters	RackPinion (agx::Real phi0=agx::degreesToRadians(-108.0), agx::Real l=0.14, agx::Real alpha0=agx::degreesToRadians(0), agx::Real lc=1.0, agx::Real lr=0.25, agx::Real gear=1.0, agx::UInt side=0)
	RackPinion steering configuration parameters.

Public Attributes
agx::Real	alpha0
agx::Real	gear
agx::Real	l
agx::Real	lc
agx::Real	lr
agx::Real	phi0
	The steering parameters are generally complicated so sensible defaults are provided.
agx::UInt	side

Detailed Description

Definition at line 23 of file SteeringParameters.h.

Member Function Documentation

Ackermann()

static SteeringParameters agxVehicle::SteeringParameters::Ackermann ( agx::Real  phi0 = agx::degreesToRadians(-115.0), agx::Real  l = 0.16, agx::Real  alpha0 = agx::degreesToRadians(0), agx::Real  lc = 0, agx::Real  lr = 0, agx::Real  gear = 1.0, agx::UInt  side = 0  )

static

Ackermann steering configuration parameters.

BellCrank()

static SteeringParameters agxVehicle::SteeringParameters::BellCrank ( agx::Real  phi0 = agx::degreesToRadians(-108.0), agx::Real  l = 0.14, agx::Real  alpha0 = agx::degreesToRadians(0), agx::Real  lc = 1.0, agx::Real  lr = 0, agx::Real  gear = 1.0, agx::UInt  side = 0  )

static

Bell Crank steering configuration parameters.

Davis()

static SteeringParameters agxVehicle::SteeringParameters::Davis ( agx::Real  phi0 = agx::degreesToRadians(104.0), agx::Real  l = 0.14, agx::Real  alpha0 = agx::degreesToRadians(76.0), agx::Real  lc = -2.0, agx::Real  lr = 0.75, agx::Real  gear = 1.0, agx::UInt  side = 0  )

static

Davis steering configuration parameters.

RackPinion()

static SteeringParameters agxVehicle::SteeringParameters::RackPinion ( agx::Real  phi0 = agx::degreesToRadians(-108.0), agx::Real  l = 0.14, agx::Real  alpha0 = agx::degreesToRadians(0), agx::Real  lc = 1.0, agx::Real  lr = 0.25, agx::Real  gear = 1.0, agx::UInt  side = 0  )

static

RackPinion steering configuration parameters.

Member Data Documentation

alpha0

agx::Real agxVehicle::SteeringParameters::alpha0

Definition at line 43 of file SteeringParameters.h.

gear

agx::Real agxVehicle::SteeringParameters::gear

Definition at line 46 of file SteeringParameters.h.

l

agx::Real agxVehicle::SteeringParameters::l

Definition at line 42 of file SteeringParameters.h.

lc

agx::Real agxVehicle::SteeringParameters::lc

Definition at line 44 of file SteeringParameters.h.

lr

agx::Real agxVehicle::SteeringParameters::lr

Definition at line 45 of file SteeringParameters.h.

phi0

agx::Real agxVehicle::SteeringParameters::phi0

The steering parameters are generally complicated so sensible defaults are provided.

They are as follows:

Parameters

phi0	- Initial angle of the kingpin or kunckle of the right wheel, measured from the direction along the axle, and pointing to the right. With phi0 = 0 the knuckel points directly to the right along the axle (a bad thing), and with phi0 = pi/2 makes the kingpin parallel to the wheel (not good either)
l	- Length of the knuckle normalized to the wheel base. Wheel base is the distance between the centers of the two wheels on the same axle.
alpha0	- Initial angle of the right tie rod which connects the knuckle to the steering column or the rack. This is also measured from the axle of the right wheel
lc	- Distance of the steering column from the tie rods from the line connecting the wheels in units of l, when applicable (Bell crank)
lr	- Rack length in units of the wheel base for rack and pinion
gear	- Gear ratio between steering wheel and the control angle of the linkage mechanism
side	- Side of steering column position: 0 refers to left wheel, 1 refer to right wheel. This is specially used for Ackermann steering mechanism.

Definition at line 41 of file SteeringParameters.h.

side

agx::UInt agxVehicle::SteeringParameters::side

Definition at line 47 of file SteeringParameters.h.

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The documentation for this struct was generated from the following file:

• SteeringParameters.h