DefaultFriction.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <box2d/b2_friction_joint.h>
#include <mvsim/FrictionModels/FrictionBase.h>
#include <mvsim/TParameterDefinitions.h>
 
namespace mvsim
{
class DefaultFriction : public FrictionBase
{
    DECLARES_REGISTER_FRICTION(DefaultFriction)
   public:
    DefaultFriction(VehicleBase& my_vehicle, const rapidxml::xml_node<char>* node);
 
    // See docs in base class.
    virtual mrpt::math::TVector2D evaluate_friction(
        const FrictionBase::TFrictionInput& input) const override;
 
   private:
    double mu_ = 0.8;  
    double C_damping_ = 0.01;  
    double C_rr_ = 0.0;  
 
   public:
    const TParameterDefinitions params_ = {
        {"mu", {"%lf", &mu_}}, {"C_damping", {"%lf", &C_damping_}}, {"C_rr", {"%lf", &C_rr_}}};
};
}  // namespace mvsim