EllipseCurveMethod.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2025 Francisco Pérez Ibañez                               |
  | 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>
#include <mvsim/Wheel.h>
 
namespace mvsim
{
class EllipseCurveMethod : public FrictionBase
{
    DECLARES_REGISTER_FRICTION(EllipseCurveMethod)
   public:
    EllipseCurveMethod(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:
    // TODO:  Move to VehicleBase
    // double CA_ = 8;   //!< aerodynamic force coefficient (non-dimensional)
 
    double C_damping_ = 0.01;  
    double C_rr_ = 0.0;  
 
    // Ellipse curve parameters:
    double C_alpha_ = 8.5;  
    double C_s_ = 7.5;  
 
    double slip_angle_saturation_ = 0.1;  
    double slip_ratio_saturation_ = 0.1;  
 
    double C_alpha_s_ = 0.5;  
    double C_s_alpha_ = 0.5;  
 
   public:
    const TParameterDefinitions params_ = {
        {"C_damping", {"%lf", &C_damping_}},
        {"C_rr", {"%lf", &C_rr_}},
        {"C_s", {"%lf", &C_s_}},
        {"slip_angle_saturation", {"%lf", &slip_angle_saturation_}},
        {"slip_ratio_saturation", {"%lf", &slip_ratio_saturation_}},
        {"C_alpha", {"%lf", &C_alpha_}},
        {"C_alpha_s", {"%lf", &C_alpha_s_}},
        {"C_s_alpha", {"%lf", &C_s_alpha_}}};
};
}  // namespace mvsim