FrictionBase.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2020  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mvsim/FrictionModels/DefaultFriction.h>
#include <mvsim/FrictionModels/FrictionBase.h>
#include <mvsim/FrictionModels/WardIagnemmaFriction.h>
#include <mvsim/VehicleBase.h>

#include <rapidxml.hpp>

using namespace mvsim;

TClassFactory_friction mvsim::classFactory_friction;

MRPT_TODO("When each wheel will have its own friction - remove m_logger.")

// Explicit registration calls seem to be one (the unique?) way to assure
// registration takes place:
void register_all_friction()
{
        static bool done = false;
        if (done)
                return;
        else
                done = true;

        REGISTER_FRICTION("default", DefaultFriction)
        REGISTER_FRICTION("wardiagnemma", WardIagnemmaFriction)
}

FrictionBase::FrictionBase(VehicleBase& my_vehicle)
        : m_world(my_vehicle.getWorldObject()), m_my_vehicle(my_vehicle)
{
}

FrictionBase::~FrictionBase() {}
FrictionBase::Ptr FrictionBase::factory(
        VehicleBase& parent, const rapidxml::xml_node<char>* xml_node)
{
        register_all_friction();

        using namespace std;
        using namespace rapidxml;

        if (!xml_node || 0 != strcmp(xml_node->name(), "friction"))
                throw runtime_error(
                        "[FrictionBase::factory] Expected XML node <friction>");

        // Parse:
        const xml_attribute<>* frict_class = xml_node->first_attribute("class");
        if (!frict_class || !frict_class->value())
                throw runtime_error(
                        "[FrictionBase::factory] Missing mandatory attribute 'class' in "
                        "node <friction>");

        return classFactory_friction.create(frict_class->value(), parent, xml_node);
}

void FrictionBase::setLogger(const std::weak_ptr<CSVLogger>& logger)
{
        m_logger = logger;
}