FrictionBase.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mvsim/basic_types.h>  // fwrd decls.
#include <mvsim/ClassFactory.h>
#include <mvsim/Wheel.h>
#include <mvsim/CsvLogger.h>

namespace mvsim
{
class FrictionBase
{
   public:
        FrictionBase(VehicleBase& my_vehicle);
        virtual ~FrictionBase();

        static FrictionBase* factory(
                VehicleBase& parent, const rapidxml::xml_node<char>* xml_node);

        struct TFrictionInput
        {
                const TSimulContext& context;
                Wheel& wheel;
                double weight;  
                double motor_torque;  
                mrpt::math::TPoint2D wheel_speed;  

                TFrictionInput(const TSimulContext& _context, Wheel& _wheel)
                        : context(_context),
                          wheel(_wheel),
                          weight(.0),
                          motor_torque(.0),
                          wheel_speed(0, 0)
                {
                }
        };

        virtual void evaluate_friction(
                const FrictionBase::TFrictionInput& input,
                mrpt::math::TPoint2D& out_result_force_local) const = 0;

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

   protected:
        World* m_world;
        VehicleBase& m_my_vehicle;

        MRPT_TODO("When each wheel will have its own friction - remove this.")
        std::weak_ptr<CSVLogger> m_logger;
};

typedef std::shared_ptr<FrictionBase> FrictionBasePtr;

// Class factory:
typedef ClassFactory<FrictionBase, VehicleBase&,
                                         const rapidxml::xml_node<char>*>
        TClassFactory_friction;
extern TClassFactory_friction classFactory_friction;

#define DECLARES_REGISTER_FRICTION(CLASS_NAME)  \
        DECLARES_REGISTER_CLASS2(                   \
                CLASS_NAME, FrictionBase, VehicleBase&, \
                const rapidxml::xml_node<char>*)

#define REGISTER_FRICTION(TEXTUAL_NAME, CLASS_NAME)                  \
        REGISTER_CLASS2(                                                 \
                TClassFactory_friction, classFactory_friction, TEXTUAL_NAME, \
                CLASS_NAME)
}