File size: 892 Bytes
21ab839 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | // Copyright 2026 Simon Sagmeister
#include "ocd_tire_models_cpp/linear.hpp"
namespace tam::ocd::tire_models
{
types::TireModelOutput Linear::evaluate(types::TireModelInput const & input)
{
types::TireModelOutput out;
// clang-format off
out.lateral_force_N = p_.C_alpha * input.slip_angle_rad * input.F_z_N;
out.longitudinal_force_N = p_.C_sx * input.longitudinal_slip * input.F_z_N;
out.self_aligning_moment_Nm = 0;
return out;
}
void Linear::declare_parameters(
tam::pmg::ParamReferenceManager * param_manager, std::string name_prefix)
{
// clang-format off
param_manager->declare_parameter(name_prefix + "C_sx",&(p_.C_sx), 3000.0, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "C_alpha", &(p_.C_alpha), -0.1, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
// clang-format on
}
} // namespace tam::ocd::tire_models
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