FrictionBase.h
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00001 /*+-------------------------------------------------------------------------+
00002   |                       MultiVehicle simulator (libmvsim)                 |
00003   |                                                                         |
00004   | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
00005   | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
00006   | Distributed under GNU General Public License version 3                  |
00007   |   See <http://www.gnu.org/licenses/>                                    |
00008   +-------------------------------------------------------------------------+ */
00009 
00010 #pragma once
00011 
00012 #include <mvsim/basic_types.h>  // fwrd decls.
00013 #include <mvsim/ClassFactory.h>
00014 #include <mvsim/Wheel.h>
00015 #include <mvsim/CsvLogger.h>
00016 
00017 namespace mvsim
00018 {
00020 class FrictionBase
00021 {
00022    public:
00023         FrictionBase(VehicleBase& my_vehicle);
00024         virtual ~FrictionBase();
00025 
00028         static FrictionBase* factory(
00029                 VehicleBase& parent, const rapidxml::xml_node<char>* xml_node);
00030 
00031         struct TFrictionInput
00032         {
00033                 const TSimulContext& context;
00034                 Wheel& wheel;
00035                 double weight;  
00036 
00037                 double motor_torque;  
00038 
00039 
00040                 mrpt::math::TPoint2D wheel_speed;  
00041 
00042 
00043 
00044                 TFrictionInput(const TSimulContext& _context, Wheel& _wheel)
00045                         : context(_context),
00046                           wheel(_wheel),
00047                           weight(.0),
00048                           motor_torque(.0),
00049                           wheel_speed(0, 0)
00050                 {
00051                 }
00052         };
00053 
00056         virtual void evaluate_friction(
00057                 const FrictionBase::TFrictionInput& input,
00058                 mrpt::math::TPoint2D& out_result_force_local) const = 0;
00059 
00060         void setLogger(const std::weak_ptr<CSVLogger>& logger);
00061 
00062    protected:
00063         World* m_world;
00064         VehicleBase& m_my_vehicle;
00065 
00066         MRPT_TODO("When each wheel will have its own friction - remove this.")
00067         std::weak_ptr<CSVLogger> m_logger;
00068 };
00069 
00070 typedef std::shared_ptr<FrictionBase> FrictionBasePtr;
00071 
00072 // Class factory:
00073 typedef ClassFactory<FrictionBase, VehicleBase&,
00074                                          const rapidxml::xml_node<char>*>
00075         TClassFactory_friction;
00076 extern TClassFactory_friction classFactory_friction;
00077 
00078 #define DECLARES_REGISTER_FRICTION(CLASS_NAME)  \
00079         DECLARES_REGISTER_CLASS2(                   \
00080                 CLASS_NAME, FrictionBase, VehicleBase&, \
00081                 const rapidxml::xml_node<char>*)
00082 
00083 #define REGISTER_FRICTION(TEXTUAL_NAME, CLASS_NAME)                  \
00084         REGISTER_CLASS2(                                                 \
00085                 TClassFactory_friction, classFactory_friction, TEXTUAL_NAME, \
00086                 CLASS_NAME)
00087 }


mvsim
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autogenerated on Thu Jun 6 2019 22:08:35