Detailed Description

Vehicle actuation properties.

Definition at line 187 of file Vehicle.h.

Collaboration diagram for dwVehicleActuationProperties:

Data Fields
dwVehicleTorqueLUT	torqueLUT
	Torque lookup tables. More...

float32_t	effectiveMass
	Effective mass due to rotational inertia (wheel, engine, and other parts of the CVT drivetrain) [kg]. More...

float32_t	throttleActuatorTimeConstant
	Time constant for first order + time delay throttle system [s]. More...

float32_t	throttleActuatorTimeDelay
	Time delay for first order + time delay throttle system [s]. More...

float32_t	brakeActuatorTimeConstant
	Time constant for first order + time delay brake system [s]. More...

float32_t	brakeActuatorTimeDelay
	Time delay for first order + time delay brake system [s]. More...

float32_t	driveByWireTimeConstant
	Time constant for first order + time delay drive-by-wire / steer-by-wire [s]. More...

float32_t	driveByWireTimeDelay
	Time delay for first order + time delay drive-by-wire / steer-by-wire [s]. More...

float32_t	driveByWireNaturalFrequency
	Natural frequency for second order + time delay drive-by-wire / steer-by-wire [hz]. More...

float32_t	driveByWireDampingRatio
	Damping ratio for second order + time delay drive-by-wire / steer-by-wire [unitless]. More...

bool	isDriveByWireSecondOrder
	Indicates whether the drive-by-wire / steer-by-wire is second-order or not. More...

float32_t	maxSteeringWheelAngle
	Maximum steering wheel angle [rad]. More...

float32_t	steeringWheelToSteeringMap [DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]
	Polynomial relating steering wheel angle [rad] to steering angle [rad]. More...

float32_t	accelerationTimeConstant_s
	Time constant for first order + time delay acceleration system. More...

float32_t	accelerationTimeDelay_s
	Time delay for first order + time delay acceleration system. More...

float32_t	decelerationTimeConstant_s
	Time constant for first order + time delay deceleration system. More...

float32_t	decelerationTimeDelay_s
	Time delay for first order + time delay deceleration system. More...

float32_t	curvatureTimeConstant_s
	Time constant for first order + time delay curvature steering interface. More...

float32_t	curvatureTimeDelay_s
	Time delay for first order + time delay curvature steering interface. More...

float32_t	frontWheelAngleTimeConstant_s
	Time constant for first order + time delay system for front wheel angle. More...

float32_t	frontWheelAngleTimeDelay_s
	Time delay for first order + time delay system for front wheel angle. More...

float32_t	rearWheelAngleTimeConstant_s
	Time constant for first order + time delay system for rear wheel angle. More...

float32_t	rearWheelAngleTimeDelay_s
	Time delay for first order + time delay system for rear wheel angle. More...

Field Documentation

◆ accelerationTimeConstant_s

float32_t dwVehicleActuationProperties::accelerationTimeConstant_s

Time constant for first order + time delay acceleration system.

Note: unit s

Definition at line 251 of file Vehicle.h.

◆ accelerationTimeDelay_s

float32_t dwVehicleActuationProperties::accelerationTimeDelay_s

Time delay for first order + time delay acceleration system.

Note: unit s

Definition at line 255 of file Vehicle.h.

◆ brakeActuatorTimeConstant

float32_t dwVehicleActuationProperties::brakeActuatorTimeConstant

Time constant for first order + time delay brake system [s].

Deprecated:: brakeActuatorTimeConstant is deprecated, please use decelerationTimeConstant_s instead.

Definition at line 209 of file Vehicle.h.

◆ brakeActuatorTimeDelay

float32_t dwVehicleActuationProperties::brakeActuatorTimeDelay

Time delay for first order + time delay brake system [s].

Deprecated:: brakeActuatorTimeDelay is deprecated, please use decelerationTimeDelay_s instead.

Definition at line 214 of file Vehicle.h.

◆ curvatureTimeConstant_s

float32_t dwVehicleActuationProperties::curvatureTimeConstant_s

Time constant for first order + time delay curvature steering interface.

Note: unit s

Definition at line 267 of file Vehicle.h.

◆ curvatureTimeDelay_s

float32_t dwVehicleActuationProperties::curvatureTimeDelay_s

Time delay for first order + time delay curvature steering interface.

Note: unit s

Definition at line 271 of file Vehicle.h.

◆ decelerationTimeConstant_s

float32_t dwVehicleActuationProperties::decelerationTimeConstant_s

Time constant for first order + time delay deceleration system.

Note: unit s

Definition at line 259 of file Vehicle.h.

◆ decelerationTimeDelay_s

float32_t dwVehicleActuationProperties::decelerationTimeDelay_s

Time delay for first order + time delay deceleration system.

Note: unit s

Definition at line 263 of file Vehicle.h.

◆ driveByWireDampingRatio

float32_t dwVehicleActuationProperties::driveByWireDampingRatio

Damping ratio for second order + time delay drive-by-wire / steer-by-wire [unitless].

Deprecated:: driveByWireDampingRatio is deprecated

Definition at line 234 of file Vehicle.h.

◆ driveByWireNaturalFrequency

float32_t dwVehicleActuationProperties::driveByWireNaturalFrequency

Natural frequency for second order + time delay drive-by-wire / steer-by-wire [hz].

Deprecated:: driveByWireNaturalFrequency is deprecated

Definition at line 229 of file Vehicle.h.

◆ driveByWireTimeConstant

float32_t dwVehicleActuationProperties::driveByWireTimeConstant

Time constant for first order + time delay drive-by-wire / steer-by-wire [s].

Deprecated:: driveByWireTimeConstant is deprecated, please use frontWheelAngleTimeConstant_s instead.

Definition at line 219 of file Vehicle.h.

◆ driveByWireTimeDelay

float32_t dwVehicleActuationProperties::driveByWireTimeDelay

Time delay for first order + time delay drive-by-wire / steer-by-wire [s].

Deprecated:: driveByWireTimeDelay is deprecated, please use frontWheelAngleTimeDelay_s instead.

Definition at line 224 of file Vehicle.h.

◆ effectiveMass

float32_t dwVehicleActuationProperties::effectiveMass

Effective mass due to rotational inertia (wheel, engine, and other parts of the CVT drivetrain) [kg].

Definition at line 194 of file Vehicle.h.

◆ frontWheelAngleTimeConstant_s

float32_t dwVehicleActuationProperties::frontWheelAngleTimeConstant_s

Time constant for first order + time delay system for front wheel angle.

Note: unit s

Definition at line 275 of file Vehicle.h.

◆ frontWheelAngleTimeDelay_s

float32_t dwVehicleActuationProperties::frontWheelAngleTimeDelay_s

Time delay for first order + time delay system for front wheel angle.

Note: unit s

Definition at line 279 of file Vehicle.h.

◆ isDriveByWireSecondOrder

bool dwVehicleActuationProperties::isDriveByWireSecondOrder

Indicates whether the drive-by-wire / steer-by-wire is second-order or not.

Deprecated:: driveByWireSecondOrder is deprecated

Definition at line 239 of file Vehicle.h.

◆ maxSteeringWheelAngle

float32_t dwVehicleActuationProperties::maxSteeringWheelAngle

Maximum steering wheel angle [rad].

Definition at line 242 of file Vehicle.h.

◆ rearWheelAngleTimeConstant_s

float32_t dwVehicleActuationProperties::rearWheelAngleTimeConstant_s

Time constant for first order + time delay system for rear wheel angle.

Note: unit s

Definition at line 283 of file Vehicle.h.

◆ rearWheelAngleTimeDelay_s

float32_t dwVehicleActuationProperties::rearWheelAngleTimeDelay_s

Time delay for first order + time delay system for rear wheel angle.

Note: unit s

Definition at line 287 of file Vehicle.h.

◆ steeringWheelToSteeringMap

float32_t dwVehicleActuationProperties::steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]

Polynomial relating steering wheel angle [rad] to steering angle [rad].

Coefficients ordered in array by increasing power, where first element is constant term (steering offset)

Definition at line 247 of file Vehicle.h.

◆ throttleActuatorTimeConstant

float32_t dwVehicleActuationProperties::throttleActuatorTimeConstant

Time constant for first order + time delay throttle system [s].

Deprecated:: throttleActuatorTimeConstant is deprecated, please use accelerationTimeConstant_s instead.

Definition at line 199 of file Vehicle.h.

◆ throttleActuatorTimeDelay

float32_t dwVehicleActuationProperties::throttleActuatorTimeDelay

Time delay for first order + time delay throttle system [s].

Deprecated:: throttleActuatorTimeDelay is deprecated, please use accelerationTimeDelay_s instead.

Definition at line 204 of file Vehicle.h.

◆ torqueLUT

dwVehicleTorqueLUT dwVehicleActuationProperties::torqueLUT

Torque lookup tables.

Definition at line 190 of file Vehicle.h.

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

Vehicle.h

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