WardIagnemmaFriction.h
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00001 /*+-------------------------------------------------------------------------+
00002   |                       MultiVehicle simulator (libmvsim)                 |
00003   |                                                                         |
00004   | Copyright (C) 2017  Borys Tymchenko                                     |
00005   | Odessa National 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 {
00024 class WardIagnemmaFriction : public FrictionBase
00025 {
00026         DECLARES_REGISTER_FRICTION(WardIagnemmaFriction)
00027    public:
00028         WardIagnemmaFriction(
00029                 VehicleBase& my_vehicle, const rapidxml::xml_node<char>* node);
00030 
00031         // See docs in base class.
00032         virtual void evaluate_friction(
00033                 const FrictionBase::TFrictionInput& input,
00034                 mrpt::math::TPoint2D& out_result_force_local) const;
00035 
00036    private:
00037         double m_mu;  
00038         double m_C_damping;  
00039         double m_A_roll, m_R1,
00040                 m_R2;  
00041 };
00042 }


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