#include <WardIagnemmaFriction.h>
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
double mvsim::WardIagnemmaFriction::m_A_roll [private] |
Definition at line 39 of file WardIagnemmaFriction.h.
double mvsim::WardIagnemmaFriction::m_C_damping [private] |
For wheels "internal friction" (N*m*s/rad)
Definition at line 38 of file WardIagnemmaFriction.h.
double mvsim::WardIagnemmaFriction::m_mu [private] |
friction coeficient (non-dimensional)
Definition at line 37 of file WardIagnemmaFriction.h.
double mvsim::WardIagnemmaFriction::m_R1 [private] |
Definition at line 39 of file WardIagnemmaFriction.h.
double mvsim::WardIagnemmaFriction::m_R2 [private] |
Ward-Iagnemma rolling resistance coefficient.
Definition at line 39 of file WardIagnemmaFriction.h.
The documentation for this class was generated from the following files: