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/b2_friction_joint.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 mrpt::math::TVector2D evaluate_friction(
                const FrictionBase::TFrictionInput& input) const override;

   private:
        double mu_;      
        double C_damping_ = 0.01;  

        double A_roll_ = 50.0, R1_ = 0.0075, R2_ = 0.02;
};
}  // namespace mvsim