WardIagnemmaFriction.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2017  Borys Tymchenko                                     |
  | Odessa National Polytechnic University                                  |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <box2d/b2_friction_joint.h>
#include <mvsim/FrictionModels/FrictionBase.h>
 
#include <vector>
 
namespace mvsim
{
class WardIagnemmaFriction : public FrictionBase
{
    DECLARES_REGISTER_FRICTION(WardIagnemmaFriction)
   public:
    WardIagnemmaFriction(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;  
    double A_roll_ = 50.0, R1_ = 0.0075, R2_ = 0.02;
};
}  // namespace mvsim