Precise steady turning conditions
Below are some precise numerical values for stable steady turns to the right with steer torque to the right. Lean and steer are defined analogous to the benchmark coordinates. The pitch I report below is defined as the pitch coordinate in the benchmark paper plus the head angle (lambda), which is why the pitch values are non-zero, but are very close to \(\pi/10\) (after all these turns are near the origin, where pitch changes very little as a function of lean and steer). Steer torque, front wheel rate and velocity are also reported.
The next four numbers give an indication of how well the following four constraints are satisfied:
- Front wheel height (configuration constraint on lean, pitch and steer), should be zero
- NH[i] for i=1,2,3 are the three components of the velocity of the front wheel contact point. For no slip rolling these should all be identically zero. NH and NH represent the no-slip constraints, NH is effectively the differentiated holonomic constraint. All three of these should be zero if the rolling constraints for both wheels are to be satisfied.