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// Copyright 2026 Simon Sagmeister

#include "ocd_tire_models_cpp/mf_52.hpp"
namespace tam::ocd::tire_models
{
types::TireModelOutput MF52::evaluate(types::TireModelInput const & input)
{
  types::TireModelOutput out;
  double F_x_o = long_force_pure_slip(input.F_z_N, input.longitudinal_slip);
  double F_y_o = lat_force_pure_slip(input.F_z_N, -input.slip_angle_rad, input.gamma_rad);
  out.longitudinal_force_N = long_force_combined_slip(
    input.F_z_N, input.longitudinal_slip, -input.slip_angle_rad, F_x_o, input.gamma_rad);
  out.lateral_force_N = lat_force_combined_slip(
    input.F_z_N, input.longitudinal_slip, -input.slip_angle_rad, F_y_o, input.gamma_rad);
  // Implement MF52 in here
  return out;
}
double MF52::long_force_pure_slip(double F_z, double kappa) const
{
  double F_z_o_a = p_.LFZO * p_.FNOMIN;
  double dfz = (F_z - F_z_o_a) / F_z_o_a;
  double S_H_x = (p_.PHX1 + p_.PHX2 * dfz) * p_.LHX;
  double S_V_x = F_z * (p_.PVX1 + p_.PVX2 * dfz) * p_.LVX * p_.LMUX;
  double kappa_x = kappa + S_H_x;
  double C_x = p_.PCX1 * p_.LCX;
  double mu_x = (p_.PDX1 + p_.PDX2 * dfz) * p_.LMUX;
  double D_x = mu_x * F_z;
  double E_x = (p_.PEX1 + p_.PEX2 * dfz + p_.PEX3 * std::pow(dfz, 2)) *
               (1.0 - p_.PEX4 * std::copysign(1.0, kappa_x)) * p_.LEX;
  double K_x = F_z * (p_.PKX1 + p_.PKX2 * dfz) * std::exp(p_.PKX3 * dfz) * p_.LKX;
  double B_x = K_x / (C_x * D_x);
  // Longitudinal Force (pure longitudinal slip)
  double F_x_o =
    D_x *
      std::sin(C_x * std::atan(B_x * kappa_x - E_x * (B_x * kappa_x - std::atan(B_x * kappa_x)))) +
    S_V_x;
  return F_x_o;
}
double MF52::lat_force_pure_slip(double F_z, double alpha, double gamma) const
{
  double gamma_s = std::sin(gamma);
  double F_z_o_a = p_.LFZO * p_.FNOMIN;
  double dfz = (F_z - F_z_o_a) / F_z_o_a;
  double K_y_g_o = F_z * (p_.PKY6 + p_.PKY7 * dfz) * p_.LKYG;
  double S_V_y_g = F_z * (p_.PVY3 + p_.PVY4 * dfz) * gamma_s * p_.LKYG * p_.LMUY;
  double S_V_y = F_z * (p_.PVY1 + p_.PVY2 * dfz) * p_.LVY * p_.LMUY + S_V_y_g;
  double K_y =
    p_.PKY1 * F_z_o_a * (1.0 - p_.PKY3 * std::abs(gamma_s)) *
    std::sin(p_.PKY4 * std::atan(F_z / ((p_.PKY2 + p_.PKY5 * std::pow(gamma_s, 2)) * F_z_o_a))) *
    p_.LKY;
  double S_H_y = (p_.PHY1 + p_.PHY2 * dfz) * p_.LHY + (K_y_g_o * gamma_s - S_V_y_g) / K_y;
  double C_y = p_.PCY1 * p_.LCY;
  double mu_y = ((p_.PDY1 + p_.PDY2 * dfz) * (1.0 - p_.PDY3 * std::pow(gamma_s, 2))) * p_.LMUY;
  double D_y = mu_y * F_z;
  double B_y = K_y / (C_y * D_y);
  double alpha_y = alpha + S_H_y;
  double E_y = (p_.PEY1 + p_.PEY2 * dfz) *
               (1.0 + p_.PEY5 * std::pow(gamma_s, 2) -
                (p_.PEY3 + p_.PEY4 * gamma_s) * std::copysign(1.0, alpha_y)) *
               p_.LEY;
  double F_y_o =
    D_y *
      std::sin(C_y * std::atan(B_y * alpha_y - E_y * (B_y * alpha_y - std::atan(B_y * alpha_y)))) +
    S_V_y;
  return F_y_o;
}
double MF52::long_force_combined_slip(
  double F_z, double kappa, double alpha, double F_x_o, double gamma) const
{
  double gamma_s = std::sin(gamma);
  double F_z_o_a = p_.LFZO * p_.FNOMIN;
  double dfz = (F_z - F_z_o_a) / F_z_o_a;
  double S_H_x_a = p_.RHX1;
  double E_x_a = p_.REX1 + p_.REX2 * dfz;
  double C_x_a = p_.RCX1;
  double B_x_a =
    (p_.RBX1 + p_.RBX3 * std::pow(gamma_s, 2)) * std::cos(std::atan(p_.RBX2 * kappa)) * p_.LXAL;
  double alpha_S = alpha + S_H_x_a;
  double G_x_a_o = std::cos(
    C_x_a * std::atan(B_x_a * S_H_x_a - E_x_a * (B_x_a * S_H_x_a - std::atan(B_x_a * S_H_x_a))));
  double G_x_a =
    std::cos(
      C_x_a * std::atan(B_x_a * alpha_S - E_x_a * (B_x_a * alpha_S - std::atan(B_x_a * alpha_S)))) /
    G_x_a_o;
  double F_x = G_x_a * F_x_o;
  return F_x;
}
double MF52::lat_force_combined_slip(
  double F_z, double kappa, double alpha, double F_y_o, double gamma) const
{
  double gamma_s = std::sin(gamma);
  double F_z_o_a = p_.LFZO * p_.FNOMIN;
  double dfz = (F_z - F_z_o_a) / F_z_o_a;
  double mu_y = ((p_.PDY1 + p_.PDY2 * dfz) / (1.0 + p_.PDY3 * std::pow(gamma_s, 2))) * p_.LMUY;
  double D_V_y_k = mu_y * F_z * (p_.RVY1 + p_.RVY2 * dfz + p_.RVY3 * gamma_s) *
                   std::cos(std::atan(p_.RVY4 * alpha));
  double S_V_y_k = D_V_y_k * std::sin(p_.RVY5 * std::atan(p_.RVY6 * kappa)) * p_.LVYKA;
  double S_H_y_k = p_.RHY1 + p_.RHY2 * dfz;
  double E_y_k = p_.REY1 + p_.REY2 * dfz;
  double C_y_k = p_.RCY1;
  double B_y_k = (p_.RBY1 + p_.RBY4 * std::pow(gamma_s, 2)) *
                 std::cos(std::atan(p_.RBY2 * (alpha - p_.RBY3))) * p_.LYKA;
  double kappa_S = kappa + S_H_y_k;
  double G_y_k_o = std::cos(
    C_y_k * std::atan(B_y_k * S_H_y_k - E_y_k * (B_y_k * S_H_y_k - std::atan(B_y_k * S_H_y_k))));
  double G_y_k =
    std::cos(
      C_y_k * std::atan(B_y_k * kappa_S - E_y_k * (B_y_k * kappa_S - std::atan(B_y_k * kappa_S)))) /
    G_y_k_o;
  double F_y = G_y_k * F_y_o + S_V_y_k;
  return F_y;
}
void MF52::declare_parameters(
  tam::pmg::ParamReferenceManager * param_manager, std::string name_prefix)
{
  // clang-format off
  // Long parameters
  param_manager->declare_parameter(name_prefix + "PCX1", &(p_.PCX1), 1.6    , tam::pmg::ParameterType::DOUBLE, "Shape factor Cfx for longitudinal force"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDX1", &(p_.PDX1), 1.5    , tam::pmg::ParameterType::DOUBLE, "Longitudinal friction Mux at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDX2", &(p_.PDX2), -0.04  , tam::pmg::ParameterType::DOUBLE, "Variation of friction Mux with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDX3", &(p_.PDX3), 0.1    , tam::pmg::ParameterType::DOUBLE, "Variation of friction Mux with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEX1", &(p_.PEX1), 0.7    , tam::pmg::ParameterType::DOUBLE, "Longitudinal curvature Efx at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEX2", &(p_.PEX2), -0.17  , tam::pmg::ParameterType::DOUBLE, "Variation of curvature Efx with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEX3", &(p_.PEX3), 0.023  , tam::pmg::ParameterType::DOUBLE, "Variation of curvature Efx with load squared"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEX4", &(p_.PEX4), -0.14  , tam::pmg::ParameterType::DOUBLE, "Factor in curvature Efx while driving"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKX1", &(p_.PKX1), 30.7   , tam::pmg::ParameterType::DOUBLE, "Longitudinal slip stiffness Kfx/Fz at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKX2", &(p_.PKX2), 0.27   , tam::pmg::ParameterType::DOUBLE, "Variation of slip stiffness Kfx/Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKX3", &(p_.PKX3), 0.13   , tam::pmg::ParameterType::DOUBLE, "Exponent in slip stiffness Kfx/Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PHX1", &(p_.PHX1), 0.0    , tam::pmg::ParameterType::DOUBLE, "Horizontal shift Shx at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PHX2", &(p_.PHX2), 0.0    , tam::pmg::ParameterType::DOUBLE, "Variation of shift Shx with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVX1", &(p_.PVX1), 0.0    , tam::pmg::ParameterType::DOUBLE, "Vertical shift Svx/Fz at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVX2", &(p_.PVX2), 0.0    , tam::pmg::ParameterType::DOUBLE, "ariation of shift Svx/Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBX1", &(p_.RBX1), 17.4   , tam::pmg::ParameterType::DOUBLE, "Slope factor for combined slip Fx reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBX2", &(p_.RBX2), 12.9   , tam::pmg::ParameterType::DOUBLE, "Variation of slope Fx reduction with kappa"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBX3", &(p_.RBX3), 0.0    , tam::pmg::ParameterType::DOUBLE, "Camber influence on combined slip longitudinal force"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RCX1", &(p_.RCX1), 1.1    , tam::pmg::ParameterType::DOUBLE, "Shape factor for combined slip Fx reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "REX1", &(p_.REX1), 0.0    , tam::pmg::ParameterType::DOUBLE, "Curvature factor of combined Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix + "REX2", &(p_.REX2), 0.0    , tam::pmg::ParameterType::DOUBLE, "Curvature factor of combined Fx with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RHX1", &(p_.RHX1), 0.001  , tam::pmg::ParameterType::DOUBLE, "Shift factor for combined slip Fx reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PTX1", &(p_.PTX1), 0.75   , tam::pmg::ParameterType::DOUBLE, "Relaxation length SigKap0/Fz at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PTX2", &(p_.PTX2), 0.007  , tam::pmg::ParameterType::DOUBLE, "Variation of SigKap0/Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PTX3", &(p_.PTX3), -0.013 , tam::pmg::ParameterType::DOUBLE, "Variation of SigKap0/Fz with exponent of load"); // NOLINT
  // clang-format on

  // clang-format off
  // Lat parameters
  param_manager->declare_parameter(name_prefix + "PCY1", &(p_.PCY1), 1.5    , tam::pmg::ParameterType::DOUBLE, "Shape factor Cfy for lateral forces"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDY1", &(p_.PDY1), 1.2    , tam::pmg::ParameterType::DOUBLE, "Lateral friction Muy "); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDY2", &(p_.PDY2), -0.09  , tam::pmg::ParameterType::DOUBLE, "Variation of friction Muy with load "); // NOLINT
  param_manager->declare_parameter(name_prefix + "PDY3", &(p_.PDY3), 0.1    , tam::pmg::ParameterType::DOUBLE, "Variation of friction Muy with squared camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEY1", &(p_.PEY1), 0.1    , tam::pmg::ParameterType::DOUBLE, "Lateral curvature Efy at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEY2", &(p_.PEY2), -1.2   , tam::pmg::ParameterType::DOUBLE, "Variation of curvature Efy with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEY3", &(p_.PEY3), 0.05   , tam::pmg::ParameterType::DOUBLE, "Zero order camber dependency of curvature Efy"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEY4", &(p_.PEY4), -8.1   , tam::pmg::ParameterType::DOUBLE, "Variation of curvature Efy with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY1", &(p_.PKY1), -75.5  , tam::pmg::ParameterType::DOUBLE, "Maximum value of stiffness Kfy/Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY2", &(p_.PKY2), 4.65   , tam::pmg::ParameterType::DOUBLE, "Load at which Kfy reaches maximum value"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY3", &(p_.PKY3), -0.6   , tam::pmg::ParameterType::DOUBLE, "Variation of Kfy/Fznom with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PHY1", &(p_.PHY1), 0.003  , tam::pmg::ParameterType::DOUBLE, "Horizontal shift Shy at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PHY2", &(p_.PHY2), -0.0006, tam::pmg::ParameterType::DOUBLE, "Variation of shift Shy with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PHY3", &(p_.PHY3), 0.004  , tam::pmg::ParameterType::DOUBLE, "Variation of shift Shy with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVY1", &(p_.PVY1), 0.04   , tam::pmg::ParameterType::DOUBLE, "Vertical shift in Svy/Fz at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVY2", &(p_.PVY2), -0.02  , tam::pmg::ParameterType::DOUBLE, "Variation of shift Svy/Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVY3", &(p_.PVY3), -0.97  , tam::pmg::ParameterType::DOUBLE, "Variation of shift Svy/Fz with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PVY4", &(p_.PVY4), -0.41  , tam::pmg::ParameterType::DOUBLE, "Variation of shift Svy/Fz with camber and load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBY1", &(p_.RBY1), 20.6   , tam::pmg::ParameterType::DOUBLE, "Slope factor for combined Fy reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBY2", &(p_.RBY2), -23.5  , tam::pmg::ParameterType::DOUBLE, "Variation of slope Fy reduction with alpha"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBY3", &(p_.RBY3), 0.001  , tam::pmg::ParameterType::DOUBLE, "Shift term for alpha in slope Fy reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RCY1", &(p_.RCY1), 1.0    , tam::pmg::ParameterType::DOUBLE, "Shape factor for combined Fy reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "REY1", &(p_.REY1), 0.0    , tam::pmg::ParameterType::DOUBLE, "Curvature factor of combined Fy"); // NOLINT
  param_manager->declare_parameter(name_prefix + "REY2", &(p_.REY2), 0.0    , tam::pmg::ParameterType::DOUBLE, "Curvature factor of combined Fy with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RHY1", &(p_.RHY1), -0.02  , tam::pmg::ParameterType::DOUBLE, "Shift factor for combined Fy reduction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RHY2", &(p_.RHY2), 0.0    , tam::pmg::ParameterType::DOUBLE, "Shift factor for combined Fy reduction with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY1", &(p_.RVY1), 0.16   , tam::pmg::ParameterType::DOUBLE, "Kappa induced side force Svyk/Muy*Fz at Fznom"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY2", &(p_.RVY2), 0.03   , tam::pmg::ParameterType::DOUBLE, "Variation of Svyk/Muy*Fz with load"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY3", &(p_.RVY3), 27.5   , tam::pmg::ParameterType::DOUBLE, "Variation of Svyk/Muy*Fz with camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY4", &(p_.RVY4), -29.7  , tam::pmg::ParameterType::DOUBLE, "Variation of Svyk/Muy*Fz with alpha"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY5", &(p_.RVY5), 0.03   , tam::pmg::ParameterType::DOUBLE, "Variation of Svyk/Muy*Fz with kappa"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RVY6", &(p_.RVY6), 0.0    , tam::pmg::ParameterType::DOUBLE, "Variation of Svyk/Muy*Fz with atan(kappa)"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PTY1", &(p_.PTY1), 3.8    , tam::pmg::ParameterType::DOUBLE, "Peak value of relaxation length SigAlp0/R0"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PTY2", &(p_.PTY2), 4.7    , tam::pmg::ParameterType::DOUBLE, "Value of Fz/Fznom where SigAlp0 is extreme"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PEY5", &(p_.PEY5), 0.0    , tam::pmg::ParameterType::DOUBLE, "Lateral curvature variation with camber squared"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY4", &(p_.PKY4), 2.0    , tam::pmg::ParameterType::DOUBLE, "Lateral force stiffness, KFy curvature"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY5", &(p_.PKY5), 0.0    , tam::pmg::ParameterType::DOUBLE, "Variation of peak stiffness with squared camber"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY6", &(p_.PKY6), 0.0    , tam::pmg::ParameterType::DOUBLE, "Lateral force, Fy, camber stiffness factor"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PKY7", &(p_.PKY7), 0.0    , tam::pmg::ParameterType::DOUBLE, "Camber stiffness vertical load dependency"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PPY1", &(p_.PPY1), 0.0    , tam::pmg::ParameterType::DOUBLE, "Cornering stiffness variation with inflation pressure"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PPY2", &(p_.PPY2), 0.0    , tam::pmg::ParameterType::DOUBLE, "Cornering stiffness variation with inflation pressure induced nominal load dependency"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PPY3", &(p_.PPY3), 0.0    , tam::pmg::ParameterType::DOUBLE, "Linear inflation pressure on peak lateral friction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PPY4", &(p_.PPY4), 0.0    , tam::pmg::ParameterType::DOUBLE, "Quadratic inflation pressure on peak lateral friction"); // NOLINT
  param_manager->declare_parameter(name_prefix + "PPY5", &(p_.PPY5), 0.0    , tam::pmg::ParameterType::DOUBLE, "Inflation pressure effect on camber stiffness"); // NOLINT
  param_manager->declare_parameter(name_prefix + "RBY4", &(p_.RBY4), 0.0    , tam::pmg::ParameterType::DOUBLE, "Lateral force, Fy, combined stiffness variation from camber"); // NOLINT
  // clang-format on

  // clang-format off
  // Scaling factors
  param_manager->declare_parameter(name_prefix +  "LFZO" , &(p_.LFZO)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of nominal (rated) load"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LCX"  , &(p_.LCX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx shape factor"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LMUX" , &(p_.LMUX)  , 0.97 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx peak friction coefficient"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LEX"  , &(p_.LEX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx curvature factor"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LKX"  , &(p_.LKX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx slip stiffness"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LHX"  , &(p_.LHX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx horizontal shift"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LVX"  , &(p_.LVX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fx vertical shift"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LGAX" , &(p_.LGAX)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of camber for Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LCY"  , &(p_.LCY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy shape factor"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LMUY" , &(p_.LMUY)  , 0.97 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy peak friction coefficient"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LEY"  , &(p_.LEY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy curvature factor"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LKY"  , &(p_.LKY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy cornering stiffness"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LKYG" , &(p_.LKYG)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy camber force stiffness"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LHY"  , &(p_.LHY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy horizontal shift"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LVY"  , &(p_.LVY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Fy vertical shift"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LGAY" , &(p_.LGAY)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of camber for Fy"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LTR"  , &(p_.LTR)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Peak of pneumatic trail"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LRES" , &(p_.LRES)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor for offset of residual torque"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LGAZ" , &(p_.LGAZ)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of camber for Mz"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LXAL" , &(p_.LXAL)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of alpha influence on Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LYKA" , &(p_.LYKA)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of alpha influence on Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LVYKA", &(p_.LVYKA) , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of kappa induced Fy"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LS"   , &(p_.LS)    , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Moment arm of Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LSGKP", &(p_.LSGKP) , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Relaxation length of Fx"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LSGAL", &(p_.LSGAL) , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Relaxation length of Fy"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LGYR" , &(p_.LGYR)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of gyroscopic torque"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LMX"  , &(p_.LMX)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of overturning couple"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LVMX" , &(p_.LVMX)  , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of Mx vertical shift"); // NOLINT
  param_manager->declare_parameter(name_prefix +  "LMY"  , &(p_.LMY)   , 1.0 , tam::pmg::ParameterType::DOUBLE, "Scale factor of rolling resistance torque"); // NOLINT
  // clang-format on

  // Other params
  param_manager->declare_parameter(
    name_prefix + "FNOMIN", &(p_.FNOMIN), 3000.0, tam::pmg::ParameterType::DOUBLE,
    "Nominal wheel load");  // NOLINT
}
}  // namespace tam::ocd::tire_models