WardIagnemmaFriction.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2017  Borys Tymchenko                                     |
  | Odessa National Polytechnic University                                  |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
#include <mvsim/FrictionModels/FrictionBase.h>

#include <vector>

namespace mvsim
{
class WardIagnemmaFriction : public FrictionBase
{
        DECLARES_REGISTER_FRICTION(WardIagnemmaFriction)
   public:
        WardIagnemmaFriction(
                VehicleBase& my_vehicle, const rapidxml::xml_node<char>* node);

        // See docs in base class.
        virtual void evaluate_friction(
                const FrictionBase::TFrictionInput& input,
                mrpt::math::TPoint2D& out_result_force_local) const override;

   private:
        double m_mu;  
        double m_C_damping;      
        double m_A_roll, m_R1,
                m_R2;  
};
}  // namespace mvsim