DefaultFriction.h
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00001 /*+-------------------------------------------------------------------------+
00002   |                       MultiVehicle simulator (libmvsim)                 |
00003   |                                                                         |
00004   | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
00005   | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
00006   | Distributed under GNU General Public License version 3                  |
00007   |   See <http://www.gnu.org/licenses/>                                    |
00008   +-------------------------------------------------------------------------+ */
00009 
00010 #pragma once
00011 
00012 #include <mvsim/FrictionModels/FrictionBase.h>
00013 #include <vector>
00014 #include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
00015 
00016 namespace mvsim
00017 {
00021 class DefaultFriction : public FrictionBase
00022 {
00023         DECLARES_REGISTER_FRICTION(DefaultFriction)
00024    public:
00025         DefaultFriction(
00026                 VehicleBase& my_vehicle, const rapidxml::xml_node<char>* node);
00027 
00028         // See docs in base class.
00029         virtual void evaluate_friction(
00030                 const FrictionBase::TFrictionInput& input,
00031                 mrpt::math::TPoint2D& out_result_force_local) const;
00032 
00033    private:
00034         double m_mu;  
00035         double m_C_damping;  
00036 };
00037 }


mvsim
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autogenerated on Thu Jun 6 2019 22:08:35