Simscape - Vehicle modelling - Nonholonimic constraints

How to implent inside SimScape a nonholonimic constraint?

For example a constraint between wheel angle and the wheel velocity direction? (Like in a simple linear bicycle model).

I didn't find in the documentation a block that implement this constraint.

Thanks

Answer 1

[Steve Miller]

If the vehicle is going to move in a single plane along a flat line, you can use the Rack and Pinion Constraint to implement the non-holonomic constraint.

--Steve