Hi Radu, Glad to receive your reply！
I mean get the wheel motion state expressed in wheel COG frame instead of
global reference frame. It is worth mention that the wheel motion state I
got in chrono vehicle API is expressed in global reference frame.
Here is my code snippets
ChFrameMoving<> wheel_abs;
ChVector<> pos = ChVector<>(-5.068122e-01, 7.653546e-01, 3.099935e-01);
// Wheel COG position
ChFrameMoving<> wheel_loc(pos, QUNIT);
// Wheel local frame
m_vehicle->GetVehicle().GetWheel(0,
VehicleSide::LEFT)->GetSpindle()->TransformLocalToParent(wheel_loc,
wheel_abs); // Transform the global frame into COG frame
auto rotation = wheel_abs.GetA();
// Get the rotation matrix in COG
frame
The code bellow is what I said failed in updating the wheel translation and
rotation in my demo code.
Best wished,
Chao
在2023年6月11日星期日 UTC+8 00:23:12<Radu Serban> 写道：
> I am not quite sure what exactly you are trying to do. Transforms (called
> “frames” in Chrono) can be concatenated and so you can express whatever
> frame into another one. Do you want to express the wheel frame into the
> chassis COG frame? Something else? And when you say “it seems to have
> failed” what does that mean?
>
>
>
> --Radu
>
>
>
>
>
> *From:* [email protected] <[email protected]> *On
> Behalf Of *Chao Zhang
> *Sent:* Saturday, June 10, 2023 4:43 AM
> *To:* ProjectChrono <[email protected]>
> *Subject:* [chrono] Getting rotation matrix of wheel in COG frame in
> Chrono::Vehicle
>
>
>
> Hi developers,
>
> I'm using the latest version of Chrono. Now I want to get the motion data
> of vehicle subsystems by invoking function GetState() in ChWheel.
> Unfortunately, the motion data I got was expressed in global reference
> frame, and I have tried using TransformParentToLocal to transform the
> rotation quaternion into COG reference, it seems to have failed.
>
> Any advice will be appreciated!
>
>
>
> Chao
>
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