Public Member Functions | Private Attributes
mvsim::WardIagnemmaFriction Class Reference

#include <WardIagnemmaFriction.h>

Inheritance diagram for mvsim::WardIagnemmaFriction:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void evaluate_friction (const FrictionBase::TFrictionInput &input, mrpt::math::TPoint2D &out_result_force_local) const
 WardIagnemmaFriction (VehicleBase &my_vehicle, const rapidxml::xml_node< char > *node)

Private Attributes

double m_A_roll
double m_C_damping
 For wheels "internal friction" (N*m*s/rad)
double m_mu
 friction coeficient (non-dimensional)
double m_R1
double m_R2
 Ward-Iagnemma rolling resistance coefficient.

Detailed Description

Friction model implemented with respect to http://web.mit.edu/mobility/publications/Iagnemma_TRO_07.pdf A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain Chris C. Ward and Karl Iagnemma

Definition at line 24 of file WardIagnemmaFriction.h.


Constructor & Destructor Documentation

WardIagnemmaFriction::WardIagnemmaFriction ( VehicleBase my_vehicle,
const rapidxml::xml_node< char > *  node 
)

Definition at line 20 of file WardIagnemmaFriction.cpp.


Member Function Documentation

void WardIagnemmaFriction::evaluate_friction ( const FrictionBase::TFrictionInput input,
mrpt::math::TPoint2D &  out_result_force_local 
) const [virtual]

Evaluates the net force on this wheel (in local coordinates). Refer to the manual for the theorical model.

Implements mvsim::FrictionBase.

Definition at line 53 of file WardIagnemmaFriction.cpp.


Member Data Documentation

Definition at line 39 of file WardIagnemmaFriction.h.

For wheels "internal friction" (N*m*s/rad)

Definition at line 38 of file WardIagnemmaFriction.h.

friction coeficient (non-dimensional)

Definition at line 37 of file WardIagnemmaFriction.h.

Definition at line 39 of file WardIagnemmaFriction.h.

Ward-Iagnemma rolling resistance coefficient.

Definition at line 39 of file WardIagnemmaFriction.h.


The documentation for this class was generated from the following files:


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35