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…egory, for front_wheel_rate calculation
…y into other funcs, and Built the compute_contact_force_rear_longitudinal_N1_nonslip func
…e_nonslip Because they need to be transfered to body-fixed coordinates for each wheel, and Imported sin and cos in main.py. Here, you can also build a func for coordinates (N -> body-fixed of each wheel) transformation in Signalprocessing or dtk
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Also, please let me know if there are some things need to be fixed. Thanks. |
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Here is the new branch only for contact forces under the constraint condition. I renewed the way of inputting the variables of new functions. And a very important thing is I found there were some wrong equations in my previous work. I have already tested these new functions. You can test them if you want.