Public Member Functions | Private Attributes | List of all members
mvsim::WardIagnemmaFriction Class Reference

#include <WardIagnemmaFriction.h>

Inheritance diagram for mvsim::WardIagnemmaFriction:
Inheritance graph
[legend]

Public Member Functions

virtual void evaluate_friction (const FrictionBase::TFrictionInput &input, mrpt::math::TPoint2D &out_result_force_local) 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 m_A_roll
 
double m_C_damping
 For wheels "internal friction" (N*m*s/rad) More...
 
double m_mu
 friction coeficient (non-dimensional) More...
 
double m_R1
 
double m_R2
 Ward-Iagnemma rolling resistance coefficient. More...
 

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< CSVLoggerm_logger
 
VehicleBasem_my_vehicle
 
Worldm_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 ( VehicleBase my_vehicle,
const rapidxml::xml_node< char > *  node 
)

Definition at line 20 of file WardIagnemmaFriction.cpp.

Member Function Documentation

void WardIagnemmaFriction::evaluate_friction ( const FrictionBase::TFrictionInput input,
mrpt::math::TPoint2D out_result_force_local 
) const
overridevirtual

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

Implements mvsim::FrictionBase.

Definition at line 53 of file WardIagnemmaFriction.cpp.

Member Data Documentation

double mvsim::WardIagnemmaFriction::m_A_roll
private

Definition at line 40 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_C_damping
private

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

Definition at line 39 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_mu
private

friction coeficient (non-dimensional)

Definition at line 38 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_R1
private

Definition at line 40 of file WardIagnemmaFriction.h.

double mvsim::WardIagnemmaFriction::m_R2
private

Ward-Iagnemma rolling resistance coefficient.

Definition at line 40 of file WardIagnemmaFriction.h.


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


mvsim
Author(s):
autogenerated on Fri May 7 2021 03:05:52