#include <WardIagnemmaFriction.h>
Inheritance diagram for mvsim::WardIagnemmaFriction:
Collaboration diagram for mvsim::WardIagnemmaFriction:
Public Member Functions | |
| WardIagnemmaFriction (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) |
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 implemented with respect to http://web.mit.edu/mobility/publications/Iagnemma_TRO_07.pdf A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain Chris C. Ward and Karl Iagnemma
Member Function Documentation
◆ evaluate_friction()
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overridevirtual |
Evaluates the net force on this wheel (in vehicle local coordinates). Refer to the manual for the theorical model.
Implements mvsim::FrictionBase.
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/WardIagnemmaFriction.h
