Inheritance diagram for mvsim::WardIagnemmaFriction:

Public Member Functions
virtual void	evaluate_friction (const FrictionBase::TFrictionInput &input, mrpt::math::TPoint2D &out_result_force_local) const override

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

Public Member Functions inherited from mvsim::FrictionBase
	FrictionBase (VehicleBase &my_vehicle)

void	setLogger (const std::weak_ptr< CSVLogger > &logger)

virtual	~FrictionBase ()

Private Attributes
double	m_A_roll

double	m_C_damping
	For wheels "internal friction" (Nms/rad) More...

double	m_mu
	friction coeficient (non-dimensional) More...

double	m_R1

double	m_R2
	Ward-Iagnemma rolling resistance coefficient. More...

Additional Inherited Members
Public Types inherited from mvsim::FrictionBase
using	Ptr = std::shared_ptr< FrictionBase >

Static Public Member Functions inherited from mvsim::FrictionBase
static FrictionBase::Ptr	factory (VehicleBase &parent, const rapidxml::xml_node< char > *xml_node)

Protected Attributes inherited from mvsim::FrictionBase
std::weak_ptr< CSVLogger >	m_logger

VehicleBase &	m_my_vehicle

World *	m_world

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 25 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.

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

overridevirtual

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

Definition at line 53 of file WardIagnemmaFriction.cpp.

double mvsim::WardIagnemmaFriction::m_A_roll

private

Definition at line 40 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_C_damping

private

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

Definition at line 39 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_mu

private

friction coeficient (non-dimensional)

Definition at line 38 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_R1

private

Definition at line 40 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_R2

private

Ward-Iagnemma rolling resistance coefficient.

Definition at line 40 of file WardIagnemmaFriction.h.

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