mvsim::EllipseCurveMethod Class Reference

#include <EllipseCurveMethod.h>

Inheritance diagram for mvsim::EllipseCurveMethod:

Collaboration diagram for mvsim::EllipseCurveMethod:

Public Member Functions
	EllipseCurveMethod (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)
bool	hasLogger () const
void	setLogger (const std::weak_ptr< CSVLogger > &logger)

Public Attributes
const TParameterDefinitions	params_

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
World *	world_
VehicleBase &	myVehicle_
std::optional< std::weak_ptr< CSVLogger > >	logger_

Detailed Description

Friction model based on the "Ellipse Curve Method".

This model is used to compute the friction forces acting on the wheels of a vehicle based on the slip angle and longitudinal slip.

Note

Contributed by Francisco Pérez Ibañez, reviewed by J.L. Blanco-Claraco, J.L. Torres-Moreno.

Member Function Documentation

evaluate_friction()

virtual mrpt::math::TVector2D mvsim::EllipseCurveMethod::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.

Member Data Documentation

params_

const TParameterDefinitions mvsim::EllipseCurveMethod::params_

Initial value:

= {
        {"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_}}}

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

• /home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/FrictionModels/EllipseCurveMethod.h