osi3::MovingObject::VehicleAttributes::WheelData Struct Reference

Detailed wheel data. More...

Collaboration diagram for osi3::MovingObject::VehicleAttributes::WheelData:

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, counting in the direction of positive-y, that is, right-to-left. More...
 
optional Vector3d position = 3
 A vector pointing from the vehicle's reference system (center of bounding box) to the geometric center of the wheel. More...
 
optional double wheel_radius = 4
 Median radius of the wheel measured from the center of the wheel to the outer part of the tire. More...
 
optional double rim_radius = 5
 Median radius of the rim measured from the center to the outer, visible part of the rim. More...
 
optional double width = 6
 Median width of the tire. More...
 
optional Orientation3d orientation = 7
 Orientation of the wheel. More...
 
optional double rotation_rate = 8
 Rotation rate of the wheel. More...
 
optional string model_reference = 9
 Opaque reference of an associated 3D model of the wheel. More...
 
optional double friction_coefficient = 10
 The value describes the kinetic friction of the tire's contact point. More...
 

Detailed Description

Detailed wheel data.

The focus is on the description of a wheel regarding the perceivable information from the outside. It is not intended to be used for dynamic calculations, for example.

Member Data Documentation

◆ axle

optional uint32 osi3::MovingObject::VehicleAttributes::WheelData::axle = 1

The axle which contains this wheel.

A value of 0 represents the front-most axle of the vehicle with higher numbers incrementing towards the rear-most axle.

◆ index

optional uint32 osi3::MovingObject::VehicleAttributes::WheelData::index = 2

The index of the wheel on the axle, counting in the direction of positive-y, 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 works also for twin tires.

◆ position

optional Vector3d osi3::MovingObject::VehicleAttributes::WheelData::position = 3

A vector pointing from the vehicle's reference system (center of bounding box) to the geometric center of the wheel.

◆ wheel_radius

optional double osi3::MovingObject::VehicleAttributes::WheelData::wheel_radius = 4

Median radius of the wheel measured from the center of the wheel to the outer part of the tire.

Unit: m

◆ rim_radius

optional double osi3::MovingObject::VehicleAttributes::WheelData::rim_radius = 5

Median radius of the rim measured from the center to the outer, visible part of the rim.

Unit: m

◆ width

optional double osi3::MovingObject::VehicleAttributes::WheelData::width = 6

Median width of the tire.

Unit: m

◆ orientation

optional Orientation3d osi3::MovingObject::VehicleAttributes::WheelData::orientation = 7

Orientation of the wheel.

The reference system is the vehicle frame (center of bounding box).

◆ rotation_rate

optional double osi3::MovingObject::VehicleAttributes::WheelData::rotation_rate = 8

Rotation rate of 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 (center of bounding box). Counterclockwise is positive and clockwise is negative.

OSI_RotationRate.svg
Note
The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.

◆ model_reference

optional string osi3::MovingObject::VehicleAttributes::WheelData::model_reference = 9

Opaque reference of an associated 3D model of the wheel.

Note
It is implementation-specific how model_references are resolved to 3d models.

◆ friction_coefficient

optional double osi3::MovingObject::VehicleAttributes::WheelData::friction_coefficient = 10

The value describes the kinetic friction of the tire's contact point.

If different friction coefficients due to more than one contact points are available, this value contains the average.

Unit: Dimensionless

References:
[1] Britannica, T. Editors of Encyclopaedia. (2020, June 24). coefficient of friction. Retrieved May 18, 2022, from https://www.britannica.com/science/coefficient-of-friction

  • osi_object.proto