This is by design. All wheel reference frames have their Y axis pointing to the left of the vehicle. See https://api.projectchrono.org/vehicle_overview.html#vehicle_ISO_frame for more details on the ISO frame convention used throughout in Chrono::Vehicle.
There is no such thing as a “wrong” orientation (it’s all a matter of convention). You just need to take into account the vehicle side a wheel is mounted on when you use (however/wherever you do that) the rotation quaternion in the WheelState struct you get from ChWheel::GetState(). --Radu From: 'JC Denton' via ProjectChrono <[email protected]> Sent: Tuesday, 27 December 2022 02:26 To: ProjectChrono <[email protected]> Subject: [chrono] How to setup initial wheel rotation? I assume we can get the current wheel orientation using ChWheel::GetState().rot, which seems to work for the left side of my vehicle, but the right side has the same orientation as the left side. I setup the wheels according to their corresponding sides: m_axles[0]->m_wheels[0] = chrono_types::make_shared<RangeRoverSport_Wheel>("Wheel_FL", true); m_axles[0]->m_wheels[1] = chrono_types::make_shared<RangeRoverSport_Wheel>("Wheel_FR", false); m_axles[1]->m_wheels[0] = chrono_types::make_shared<RangeRoverSport_Wheel>("Wheel_RL", true); m_axles[1]->m_wheels[1] = chrono_types::make_shared<RangeRoverSport_Wheel>("Wheel_RR", false); and when I query GetState() the positions and rotations are correct except for the Rotations on the Right side. Where can I setup the initial rotation? I figured setting the VehicleSide::RIGHT should do the trick? -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/56d16b90-f22c-4ecf-b9f4-4b01f8b98ac9n%40googlegroups.com<https://groups.google.com/d/msgid/projectchrono/56d16b90-f22c-4ecf-b9f4-4b01f8b98ac9n%40googlegroups.com?utm_medium=email&utm_source=footer>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/PH0PR06MB8237909999897E63C1552F8FA7ED9%40PH0PR06MB8237.namprd06.prod.outlook.com.
