#include <DefaultFriction.h>

Inheritance diagram for mvsim::DefaultFriction:

Public Member Functions
	DefaultFriction (VehicleBase &my_vehicle, const rapidxml::xml_node< char > *node)

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

Public Member Functions inherited from mvsim::FrictionBase
	FrictionBase (VehicleBase &my_vehicle)

void	setLogger (const std::weak_ptr< CSVLogger > &logger)

virtual	~FrictionBase ()

Public Attributes
const TParameterDefinitions	params_

Private Attributes
double	C_damping_
	For wheels "internal friction" (Nms/rad) More...

double	mu_
	friction coeficient (non-dimensional) 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< CSVLogger >	logger_

VehicleBase &	myVehicle_

World *	world_

Detailed Description

The default friction model for interaction between each wheel-ground contact point. No rolling resistance.

Definition at line 24 of file DefaultFriction.h.

Constructor & Destructor Documentation

◆ DefaultFriction()

DefaultFriction::DefaultFriction	(	VehicleBase &	my_vehicle,
		const rapidxml::xml_node< char > *	node
	)

Definition at line 20 of file DefaultFriction.cpp.

Member Function Documentation

◆ evaluate_friction()

mrpt::math::TVector2D DefaultFriction::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 32 of file DefaultFriction.cpp.

Member Data Documentation

◆ C_damping_

double mvsim::DefaultFriction::C_damping_

private

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

Definition at line 36 of file DefaultFriction.h.

◆ mu_

double mvsim::DefaultFriction::mu_

private

friction coeficient (non-dimensional)

Definition at line 35 of file DefaultFriction.h.

◆ params_

const TParameterDefinitions mvsim::DefaultFriction::params_

Initial value:

= {

{"mu", {"%lf", &mu_}}, {"C_damping", {"%lf", &C_damping_}}}

Definition at line 39 of file DefaultFriction.h.

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

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members