osi3::HostVehicleData::VehicleWheels::WheelData Struct Reference
Public Attributes
optional uint32 | axle = 1 |
The axle which contains this wheel. More... | |
optional uint32 | index = 2 |
The index of the wheel on the axle, counted in positive y- direction, that is, right-to-left. More... | |
optional double | rotation_rate = 3 |
Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel. More... | |
optional double | slip = 4 |
Contains the longitudinal, measured slip of the tire. More... | |
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.
- References:
- [1] kfz-tech.de, Schlupf, Retrieved June 30, 2021, from https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm
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.
- osi_hostvehicledata.proto