% RW : position
% TLW : Tangent, Longitudinal (not normalized)
% TTW, : Tangent, Transversal (not normalized)
function [RW, T1, T2, DDRs1, DDRs2, DDRs1s2, KD] = GeomNeumaticoDelantero(q,sp,cod)
% cod = CODIGO DE OUTPUTS
% cod = 1 Posicion, tangentes y derivadas segundas
% cod = 2 Posicion, tangentes, derivadas segundas, curvaturas principales
% y direcciones principales de curvatura
global MBody
Param=ParametrosMotocicleta;
s1 = sp(1);
s2 = sp(2);
a = Param.a_n;
b = Param.b_n;
R = Param.Rd;
r = R-b+b*sqrt(1-(s1/a)^2);
rp = (-b/(a^2))*s1*(1-(s1/a)^2)^(-0.5);
rpp = (-b/(a^2))*(1-(s1/a)^2)^(-0.5)-(b/(a^4))*s1^2*(1-(s1/a)^2)^(-1.5);
% Position of the point (wheel coordinate system)
rW = ([r*cos(s2), s1, r*sin(s2)])';
% Longitudinal tangent (wheel coordinate system)
t2 = ([-r*sin(s2), 0, r*cos(s2)])';
% Transverse tangent (wheel coordinate system)
t1 = ([rp*cos(s2), 1.0, rp*sin(s2)])';
% Wheel translation and rotation matrix
Rw = RG5(q);
Aw = A5(q);
% Express in global coordinate system:
RW = Rw + Aw*rW;
T2 = Aw*t2;
T1 = Aw*t1;
dt = [rpp*cos(s2), 0.0, rpp*sin(s2)]';
DDRs1=Aw*dt;
dt = [-r*cos(s2), 0, -r*sin(s2)]';
DDRs2=Aw*dt;
dt = [-rp*sin(s2), 0, rp*cos(s2)]';
DDRs1s2=Aw*dt;
KD = [];
N =-cross(T1,T2); %producto vectorial de T1 y T2
N = N/norm(N);
if cod == 2,
nn = N;
EE = T1'*T1;
FF = T1'*T2;
GG = T2'*T2;
LL = DDRs1'*nn;
MM = DDRs1s2'*nn;
NN = DDRs2'*nn;
KD = curvature(EE,FF,GG,LL,MM,NN);
end
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
