class dynoWheelInfo

Stores wheel geometry information used when creating rolling contacts.

Public Fields

link* l

the link

tmatrix wheelCoords

wheel-to-link coordinate transformation

double width

width of the wheel, for cylindrical wheels

double radius

radius of the wheel

triple center

the world coordiantes of the origin of the wheel

triple omega

angular velocity due to the wheel's rotation about its axis.

tmatrix worldToWheel

converts world coordinates to wheel coordinates.

tmatrix wheelToWorld

converts wheel coordinates to world coordinates.

Public Methods

dynoWheelInfo(void)

constructor

dynoWheelInfo(link* L, const tmatrix &WheelCoords, double Width, double Radius)

constructor

void update(void)

updates worldToWheel, wheelToWorld, center, and omega

Documentation

Stores wheel geometry information used when creating rolling contacts.

• wheel coordinates are defined with the origin at the center of the wheel's disc, along the 'inner' edge of the wheel, with z axis aligned w/ rotation axis and pointing towards the outer edge
• worldToWheel and wheelToWorld convert between world and wheel coordinates. they are computed by computeWheelTransforms()

link* l

the link

tmatrix wheelCoords

wheel-to-link coordinate transformation

double width

width of the wheel, for cylindrical wheels

double radius

radius of the wheel

triple center

the world coordiantes of the origin of the wheel

triple omega

angular velocity due to the wheel's rotation about its axis. omega is in world coordinates and is computed by update()

tmatrix worldToWheel

converts world coordinates to wheel coordinates. Computed by update()

tmatrix wheelToWorld

converts wheel coordinates to world coordinates. Computed by update()

dynoWheelInfo(void)

constructor

dynoWheelInfo(link* L, const tmatrix &WheelCoords, double Width, double Radius)

constructor

void update(void)

updates worldToWheel, wheelToWorld, center, and omega

This class has no child classes.

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