Great thank you, this was what I was starting to figure, but thank you for confirming!
On Monday, December 26, 2022 at 11:57:28 PM UTC-8 Radu Serban wrote: > 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]. > 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/3257cfc9-5131-4a73-8c0e-2df0b3a0d7f4n%40googlegroups.com.
