Hi Serdan
Thank you very much for your explanation. It's all ok when I use
your ways. Thank you again.
在2022年12月2日星期五 UTC+8 17:23:08<Radu Serban> 写道：
> The current implementation is, granted, a bit fragile. But the issue is
> that your quaternion
>
> ChQuaternion<> initRot(0.929, 0, 0, -0.371)
>
> Is not quite unit-norm and as such does not represent a proper rotation.
>
>
>
> Either:
>
> 1. Normalize it before use, making a call
> initRot.Normalize(); or
> 2. Use a function that generates a unit quaternion, for example
> ChQuaternion<> initRot = Q_Fron_AngZ(-45 * CH_C_DEG_TO_RAD);
>
>
>
> Please verify that the code as you have it works fine if you provide a
> proper rotation quaternion (any of the above).
>
>
>
> Then you can pull the latest code – I made a modification to the
> rack-and-pinion template implementation to make it more robust. That will
> also work with your not-quite-right quaternion. But again, I strongly
> suggest you keep your input data consistent and accurate.
>
>
>
> --Radu
>
>
>
> *From:* [email protected] <[email protected]> *On
> Behalf Of *ji li
> *Sent:* Friday, 2 December 2022 04:58
> *To:* ProjectChrono <[email protected]>
> *Subject:* Re: [chrono] Is the location setting correct on the Sedan car?
>
>
>
> Hi Sedan
>
> Thank you very much for your quick reply. However I verified
> that the Debug still exiests, when I got pull the ‘main’ branch of the
> Chrono.
>
> 在2022年12月2日星期五 UTC+8 06:01:25<Radu Serban> 写道：
>
> Thanks for reporting this. It turned out to be a bug in the
> initialization of the rack-and-pinion steering mechanism. I pushed a fix
> for it in repository.
>
>
>
> --Radu
>
>
>
> *From:* [email protected] <[email protected]> *On
> Behalf Of *ji li
> *Sent:* Thursday, 1 December 2022 10:30
> *To:* ProjectChrono <[email protected]>
> *Subject:* [chrono] Is the location setting correct on the Sedan car?
>
>
>
> Hello
>
> I‘m skeptical about the pose settings of the Sedan when I set the
> initRot(0.929, 0, 0, -0.371) on demo_VEH_Sedan.cpp as shown in the first
> picture. I found that the rotation of the tires of the car also changes
> as shown in the second picture. However I do the same rotation setup on
> demo_VEH_UAZBUS.CPP and the tires are normal, we can see the third
> picture. Is the result of the Sedan right?
>
>
>
>
>
>
>
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