DriveWorks SDK Reference
5.14.77 Release
For Test and Development only

Vehicle.h
Go to the documentation of this file.
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31#ifndef DW_RIG_VEHICLE_H_
32#define DW_RIG_VEHICLE_H_
33// Generated by dwProto from vehicle.proto DO NOT EDIT BY HAND!
34// See //3rdparty/shared/dwproto/README.md for more information
35
51#include <dw/core/base/Types.h>
52
53#ifdef __cplusplus
54extern "C" {
55#endif
56
57#define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U
58#define DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)
59#define DW_VEHICLE_MAX_NUM_TRAILERS 1U
60#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U
61
67
70typedef enum dwVehicleWheels {
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83{
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133{
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155typedef struct dwVehicleTorqueLUT
156{
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177{
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223{
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271{
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283typedef struct dwVehicleCabin
284{
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290typedef struct dwVehicleTrailer
291{
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312typedef struct dwGenericVehicle
313{
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348 uint32_t numTrailers;
350
353typedef struct dwVehicle
354{
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375 DW_DEPRECATED("Will be removed, unused")
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379 DW_DEPRECATED("Will be removed, unused")
383
385 DW_DEPRECATED("Will be removed, unused")
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389 DW_DEPRECATED("Will be removed, unused")
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393 DW_DEPRECATED("Will be removed, unused")
399
404
410} dwVehicle;
411
412#ifdef __cplusplus
413}
414#endif
415
419#endif // DW_RIG_VEHICLE_H_
Defines a three-element floating-point vector.
Definition: MatrixTypes.h:79
NVIDIA DriveWorks API: Core Types
NVIDIA DriveWorks API: Core Exports
float float32_t
Specifies POD types.
Definition: BasicTypes.h:59
#define DW_DEPRECATED(msg)
Definition: Exports.h:66
dwVector3f inertia
Principal moments of inertia with respect to center of mass [kg m^2].
Definition: Vehicle.h:111
float32_t wheelRadius[DW_VEHICLE_NUM_WHEELS]
Radius of each individual wheel [m].
Definition: Vehicle.h:398
float32_t throttleSpeedInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]
1-d array of range of vehicle linear speed values (Throttle Look-up Table Input) [m/s]
Definition: Vehicle.h:161
float32_t height
Height of the bounding box (vertical dimension, along Z) [m].
Definition: Vehicle.h:95
float32_t maxSteeringWheelAngle
maximum steering wheel [radians]
Definition: Vehicle.h:403
float32_t axlebaseFront
Width of the front axle. [meters].
Definition: Vehicle.h:360
float32_t brakeActuatorTimeConstant
Time constant for first order + time delay brake system [s].
Definition: Vehicle.h:192
dwVector3f centerOfMass
Position of center of mass in body coordinate system [m].
Definition: Vehicle.h:106
dwVehicleAxleProperties axleFront
Properties of the front (steering) axle [m].
Definition: Vehicle.h:318
dwVehicleBodyProperties body
Properties of the cabin body.
Definition: Vehicle.h:286
float32_t centerOfMassToRearAxle
Distance between vehicle's CoM (center-of-mass) and center of the rear axle. [meters].
Definition: Vehicle.h:370
dwVehicleCabin cabin
Properties of an optional floating cabin attached to the base body.
Definition: Vehicle.h:340
float32_t frontSteeringOffset
front wheel steering offset [radians].
Definition: Vehicle.h:409
float32_t bumperRear
Distance rear axle to rear bumper. [meters].
Definition: Vehicle.h:362
int32_t ticksCountMin
Number below which counter rolls under. [-].
Definition: Vehicle.h:228
float32_t frontCorneringStiffness
front wheel cornering stiffness.
Definition: Vehicle.h:368
float32_t width
Width of the vehicle, without side mirrors. [meters].
Definition: Vehicle.h:357
float32_t throttlePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]
1-d array of range of throttle pedal values (Throttle Look-up Table Input)
Definition: Vehicle.h:158
dwVehicleTorqueLUT torqueLUT
Torque lookup tables.
Definition: Vehicle.h:179
float32_t rearCorneringStiffness
rear wheel cornering stiffness.
Definition: Vehicle.h:369
float32_t driveByWireDampingRatio
Damping ratio for second order + time delay drive-by-wire / steer-by-wire [unitless].
Definition: Vehicle.h:207
float32_t understeerAngleGradient
Understeer angle gradient relating lateral acceleration to steering angle deviation.
Definition: Vehicle.h:253
float32_t centerOfMassHeight
Height of the CoM (m).
Definition: Vehicle.h:382
float32_t position
Position of axle midpoint along X-axis in corresponding vehicle coordinate system (DW_COORDINATE_SYST...
Definition: Vehicle.h:137
dwVehicleBodyProperties body
Properties of the base body (passenger car body, truck tractor chassis)
Definition: Vehicle.h:315
float32_t frontalArea
Vehicle Frontal area (m^2).
Definition: Vehicle.h:380
float32_t effectiveMass
effective mass due to vehicle rotational inertia (wheel rotation, engine, and other parts of the CVT ...
Definition: Vehicle.h:367
dwVehicleDynamicsProperties dynamics
Vehicle dynamics properties.
Definition: Vehicle.h:330
float32_t driveByWireTimeDelay
Drive-by-wire (steer-by-wire) time delay. [s].
Definition: Vehicle.h:371
dwVehicleAxleProperties axleFront
Properties of the front (steering) axle [m].
Definition: Vehicle.h:296
dwVector3f boundingBoxPosition
Position of bounding box origin in body coordinate system [m].
Definition: Vehicle.h:101
float32_t width
Width of the bounding box (lateral dimension, along Y) [m].
Definition: Vehicle.h:88
float32_t wheelRadiusLeft
Radius of left wheel, when facing towards the forward direction of the vehicle [m].
Definition: Vehicle.h:144
dwVehicleArticulationProperties articulation
Articulation linking trailer to leading vehicle unit.
Definition: Vehicle.h:308
dwVehicleAxleProperties axleRear
Properties of the rear axle group [m].
Definition: Vehicle.h:324
dwVehicleActuationProperties actuation
Vehicle actuation properties.
Definition: Vehicle.h:327
float32_t brakeTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]
1-d torque Table, mapping a given brake pedal position to a torque value (Brake Look-up Table Output)
Definition: Vehicle.h:172
float32_t driveByWireTimeConstant
Drive-by-wire (steer-by-wire) time constant. [s].
Definition: Vehicle.h:372
float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]
polynomial coefficents of steering wheel angle to steering angle as given in c0 + c1*x + c2*x^2 + ....
Definition: Vehicle.h:402
int32_t ticksCountInvalid
Invalid tick count, optional value provided by vehicle in case of error, must be outside of [ticksCou...
Definition: Vehicle.h:235
float32_t corneringStiffness
Cornering stiffness for a single tire [N/rad].
Definition: Vehicle.h:151
float32_t length
Length of the vehicle. [meters].
Definition: Vehicle.h:356
float32_t mass
vehicle mass [kg].
Definition: Vehicle.h:365
float32_t widthWithMirrors
Width of the vehicle including side mirrors. [meters].
Definition: Vehicle.h:358
float32_t driveByWireTimeConstant
Time constant for first order + time delay drive-by-wire / steer-by-wire [s].
Definition: Vehicle.h:198
float32_t throttleActuatorTimeConstant
Time constant for first order + time delay throttle system [s].
Definition: Vehicle.h:186
dwVector3f inertia3D
vehicle inertia around each axis, w.r.t. its center of mass. [kg m^2]
Definition: Vehicle.h:366
float32_t axlebaseRear
Width of the rear axle. [meters].
Definition: Vehicle.h:361
float32_t speedQuantization
Wheel speed quantization.
Definition: Vehicle.h:239
float32_t rearAxleToBPillar
Distance from rear axle to B pillar [m].
Definition: Vehicle.h:124
float32_t height
Height of the vehicle. [meters].
Definition: Vehicle.h:355
float32_t effectiveMass
Effective mass due to rotational inertia (wheel, engine, and other parts of the CVT drivetrain) [kg].
Definition: Vehicle.h:183
float32_t aeroHeight
Equivalent height of aerodynamic force applied (m).
Definition: Vehicle.h:386
int32_t ticksPerTurn
Ticks per wheel turn. [-].
Definition: Vehicle.h:225
float32_t driveByWireNaturalFrequency
Natural frequency for second order + time delay drive-by-wire / steer-by-wire [hz].
Definition: Vehicle.h:204
float32_t track
Width of the axle, measured between center line of wheels [m].
Definition: Vehicle.h:140
float32_t brakeActuatorTimeDelay
Time delay for first order + time delay brake system [s].
Definition: Vehicle.h:195
float32_t throttleActuatorTimeDelay
Time delay for first order + time delay throttle system [s].
Definition: Vehicle.h:189
bool hasCabin
Indicates presence of a cabin.
Definition: Vehicle.h:343
dwVector3f leadingVehicleHingePosition
Position of leading vehicle hinge attach point in leading vehicle coordinate system (DW_COORDINATE_SY...
Definition: Vehicle.h:275
float32_t brakeActuatorTimeConstant
Time constant for first order lp brake system.
Definition: Vehicle.h:396
dwVehicleTorqueLUT torqueLUT
Lookup table mapping throttle and brake pedal position to torque.
Definition: Vehicle.h:397
float32_t mass
Mass [kg].
Definition: Vehicle.h:116
float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]
Polynomial relating steering wheel angle [rad] to steering angle [rad].
Definition: Vehicle.h:218
float32_t rearAxleToAPillar
Distance from rear axle to A pillar [m].
Definition: Vehicle.h:120
dwVehicleTrailerType type
Trailer type, either full or semi, indicates presence of front axle.
Definition: Vehicle.h:305
dwVehicleBodyProperties body
Properties of the trailer body.
Definition: Vehicle.h:293
float32_t pitchAngleGradientBrake
Suspension pitch angle gradient during braking. [deg s^2 / m].
Definition: Vehicle.h:266
float32_t driveByWireTimeDelay
Time delay for first order + time delay drive-by-wire / steer-by-wire [s].
Definition: Vehicle.h:201
float32_t throttleTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE][DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]
2-d torque table, mapping a given throttle pedal position at a given speed to a torque value (Throttl...
Definition: Vehicle.h:166
dwVector3f trailingVehicleHingePosition
Position of trailing vehicle hinge attach point in trailer coordinate system (DW_COORDINATE_SYSTEM_VE...
Definition: Vehicle.h:279
float32_t aerodynamicDragCoeff
Aerodynamic drag coefficient.
Definition: Vehicle.h:376
float32_t wheelRadiusRight
Radius of right wheel, when facing towards the forward direction of the vehicle [m].
Definition: Vehicle.h:148
float32_t steeringCoefficient
Steering coefficient for trivial linear mapping between steering wheel and steering angle,...
Definition: Vehicle.h:364
dwVehicleSuspensionProperties suspension
Vehicle suspension properties.
Definition: Vehicle.h:333
float32_t rollAngleGradient
Suspension roll angle gradient. [deg s^2 / m].
Definition: Vehicle.h:260
dwVehicleWheelEncoderProperties wheelEncoder
Wheel encoder properties.
Definition: Vehicle.h:336
float32_t sideSlipAngleGradient
Side slip angle gradient relating lateral acceleration to side slip angle.
Definition: Vehicle.h:247
float32_t centerOfMassToFrontAxle
Distance from CoM to the front axle (m).
Definition: Vehicle.h:381
float32_t maxEnginePower
Maximum engine power in Watts.
Definition: Vehicle.h:394
int32_t ticksCountMax
Number above which counter rolls over. [-].
Definition: Vehicle.h:231
float32_t rollingResistanceCoeff
Rolling resistance coefficient.
Definition: Vehicle.h:390
float32_t wheelbase
Distance between the centers of the front and rear wheels. [meters].
Definition: Vehicle.h:359
dwVehicleTrailer trailers[DW_VEHICLE_MAX_NUM_TRAILERS]
Properties of trailer units.
Definition: Vehicle.h:347
float32_t bumperFront
Distance front axle to front bumper. [meters].
Definition: Vehicle.h:363
dwVehicleAxleProperties axleRear
Properties of the rear axle group [m].
Definition: Vehicle.h:302
bool isDriveByWireSecondOrder
Indicates whether the drive-by-wire / steer-by-wire is second-order or not.
Definition: Vehicle.h:210
float32_t rearAxleToCPillar
Distance from rear axle to C pillar [m].
Definition: Vehicle.h:128
float32_t widthWithoutMirrors
Width of the body without any side-mirrors, if applicable, otherwise same as width.
Definition: Vehicle.h:92
float32_t maxSteeringWheelAngle
Maximum steering wheel angle [rad].
Definition: Vehicle.h:213
uint32_t numTrailers
Stores the occupied/valid length of trailers.
Definition: Vehicle.h:348
float32_t pitchAngleGradientAccel
Suspension pitch angle gradient during acceleration. [deg s^2 / m].
Definition: Vehicle.h:263
float32_t length
Length of the bounding box (longitudinal dimension, along X) [m].
Definition: Vehicle.h:85
float32_t brakePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]
1-d array of range of brake pedal values (Brake Look-up Table Input)
Definition: Vehicle.h:169
float32_t throttleActuatorTimeConstant
Time constant for first order lp throttle system.
Definition: Vehicle.h:395
dwVehicleTrailerType
Supported trailer types.
Definition: Vehicle.h:63
#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE
Definition: Vehicle.h:60
#define DW_VEHICLE_MAX_NUM_TRAILERS
Definition: Vehicle.h:59
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE
Definition: Vehicle.h:58
dwVehicleWheels
Define index for each of the wheels on a 4 wheeled vehicle.
Definition: Vehicle.h:70
@ DW_VEHICLE_TRAILER_TYPE_SEMI
Trailer that has both front and rear axles.
Definition: Vehicle.h:65
@ DW_VEHICLE_TRAILER_TYPE_FULL
Definition: Vehicle.h:64
@ DW_VEHICLE_WHEEL_REAR_LEFT
Definition: Vehicle.h:73
@ DW_VEHICLE_WHEEL_REAR_RIGHT
Definition: Vehicle.h:74
@ DW_VEHICLE_WHEEL_FRONT_LEFT
Definition: Vehicle.h:71
@ DW_VEHICLE_NUM_WHEELS
Number of wheels describing the vehicle.
Definition: Vehicle.h:77
@ DW_VEHICLE_WHEEL_FRONT_RIGHT
Definition: Vehicle.h:72
Vehicle description.
Definition: Vehicle.h:313
DEPRECATED: Properties of a passenger car vehicle.
Definition: Vehicle.h:354
Vehicle actuation properties.
Definition: Vehicle.h:177
Properties of an articulation linking two vehicle units.
Definition: Vehicle.h:271
Properties of an axle and its wheels.
Definition: Vehicle.h:133
Physical properties of a vehicle body.
Definition: Vehicle.h:83
Vehicle cabin description.
Definition: Vehicle.h:284
Dynamics properties.
Definition: Vehicle.h:244
Suspension properties.
Definition: Vehicle.h:258
Throttle and brake state (input) to longitudinal force (output) lookup tables.
Definition: Vehicle.h:156
Vehicle trailer description.
Definition: Vehicle.h:291
Wheel encoder parameters.
Definition: Vehicle.h:223