File size: 2,568 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 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | // Copyright 2026 Simon Sagmeister
#include "ocd_tire_models_cpp/mf_simple.hpp"
namespace tam::ocd::tire_models
{
types::TireModelOutput MF_Simple::evaluate_static(
types::TireModelInput const & input, Parameters const & parameters)
{
types::TireModelOutput out;
// clang-format off
out.longitudinal_force_N = input.F_z_N *
(parameters.longitudinal.D *
std::sin(
parameters.longitudinal.C *
std::atan(
parameters.longitudinal.B * input.longitudinal_slip - parameters.longitudinal.E *
( parameters.longitudinal.B * input.longitudinal_slip -
std::atan(parameters.longitudinal.B * input.longitudinal_slip)
)
)
)
);
out.lateral_force_N = input.F_z_N *
(parameters.lateral.D *
std::sin(
parameters.lateral.C *
std::atan(
parameters.lateral.B * std::tan(input.slip_angle_rad) - parameters.lateral.E *
( parameters.lateral.B * std::tan(input.slip_angle_rad) -
std::atan(parameters.lateral.B * std::tan(input.slip_angle_rad))
)
)
)
);
// clang-format on
return out;
}
types::TireModelOutput MF_Simple::evaluate(types::TireModelInput const & input)
{
return evaluate_static(input, p_);
}
void MF_Simple::declare_parameters(
tam::pmg::ParamReferenceManager * param_manager, std::string name_prefix)
{
// clang-format off
param_manager->declare_parameter(name_prefix + "longitudinal.B", &(p_.longitudinal.B), 20.0, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "longitudinal.C", &(p_.longitudinal.C), 2.0, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "longitudinal.D", &(p_.longitudinal.D), 1.7, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "longitudinal.E", &(p_.longitudinal.E), 0.7, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "lateral.B", &(p_.lateral.B), 10.0, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "lateral.C", &(p_.lateral.C), 1.6, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "lateral.D", &(p_.lateral.D), 1.7, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
param_manager->declare_parameter(name_prefix + "lateral.E", &(p_.lateral.E), -1.9, tam::pmg::ParameterType::DOUBLE, ""); // NOLINT
// clang-format on
}
} // namespace tam::ocd::tire_models
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