mvsim::WardIagnemmaFriction Class Reference

#include <WardIagnemmaFriction.h>

Inheritance diagram for mvsim::WardIagnemmaFriction:

Public Member Functions
virtual mrpt::math::TVector2D	evaluate_friction (const FrictionBase::TFrictionInput &input) 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	A_roll_ = 50.0
double	C_damping_ = 0.01
	For wheels "internal friction" (N*m*s/rad) More...
double	mu_
	friction coeficient (non-dimensional) More...
double	R1_ = 0.0075
double	R2_ = 0.02

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

Definition at line 21 of file WardIagnemmaFriction.cpp.

Member Function Documentation

evaluate_friction()

mrpt::math::TVector2D WardIagnemmaFriction::evaluate_friction ( const FrictionBase::TFrictionInput &  input ) const

overridevirtual

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

Implements mvsim::FrictionBase.

Definition at line 47 of file WardIagnemmaFriction.cpp.

Member Data Documentation

A_roll_

double mvsim::WardIagnemmaFriction::A_roll_ = 50.0

private

Ward-Iagnemma rolling resistance coefficient

Definition at line 40 of file WardIagnemmaFriction.h.

C_damping_

double mvsim::WardIagnemmaFriction::C_damping_ = 0.01

private

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

Definition at line 38 of file WardIagnemmaFriction.h.

mu_

double mvsim::WardIagnemmaFriction::mu_

private

friction coeficient (non-dimensional)

Definition at line 37 of file WardIagnemmaFriction.h.

R1_

double mvsim::WardIagnemmaFriction::R1_ = 0.0075

private

Definition at line 40 of file WardIagnemmaFriction.h.

R2_

double mvsim::WardIagnemmaFriction::R2_ = 0.02

private

Definition at line 40 of file WardIagnemmaFriction.h.

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

• WardIagnemmaFriction.h
• WardIagnemmaFriction.cpp