RigidBodyLoadTransferModel Class Reference

#include <rigid_body_model.hpp>

Inheritance diagram for RigidBodyLoadTransferModel:

Collaboration diagram for RigidBodyLoadTransferModel:

Public Member Functions
	RigidBodyLoadTransferModel (const common_lib::car_parameters::CarParameters &car_parameters)
Eigen::Vector4d	compute_loads (const Eigen::VectorXd &dynamic_state) const override
	Computes loads on the tires based on the dynamic state of the vehicle.
Public Member Functions inherited from LoadTransferModel
	LoadTransferModel (const common_lib::car_parameters::CarParameters &car_parameters)

Additional Inherited Members
Protected Attributes inherited from LoadTransferModel
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Definition at line 3 of file rigid_body_model.hpp.

Constructor & Destructor Documentation

RigidBodyLoadTransferModel()

RigidBodyLoadTransferModel::RigidBodyLoadTransferModel ( const common_lib::car_parameters::CarParameters &  car_parameters )

inline

Definition at line 5 of file rigid_body_model.hpp.

Member Function Documentation

compute_loads()

Eigen::Vector4d RigidBodyLoadTransferModel::compute_loads ( const Eigen::VectorXd &  dynamic_state ) const

overridevirtual

Computes loads on the tires based on the dynamic state of the vehicle.

Parameters

dynamic_state

Receives only the lateral and longitudinal accelerations

Returns

Eigen::Vector4d a vector containing the loads on the four tires in Newtons, in the order: FL, FR, RL, RR.

Implements LoadTransferModel.

Definition at line 3 of file rigid_body_model.cpp.

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

• src/motion_lib/include/motion_lib/load_transfer_model/rigid_body_model.hpp
• src/motion_lib/src/load_transfer_model/rigid_body_model.cpp