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Model2DRigidDyncarNtire Class Reference

A 5DOF dynamical model of a rigid car. This model uses a nonlinear tire model. The model was donated by Jim Bernard. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidDyncarNtire::

List of all members.

Public Methods
	Model2DRigidDyncarNtire (string path)
virtual	~Model2DRigidDyncarNtire ()
virtual MSLVector	StateTransitionEquation (const MSLVector &x, const MSLVector &u)
	The state transition equation, or equations of motion, xdot=f(x,u).
Public Attributes
double	Mu
	Nonlinear tire model constant.
double	Nf
	Load on the front tires.
double	Nr
	Load on the rear tires.

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Detailed Description

A 5DOF dynamical model of a rigid car. This model uses a nonlinear tire model. The model was donated by Jim Bernard.

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Constructor & Destructor Documentation

Model2DRigidDyncarNtire::Model2DRigidDyncarNtire ( string path )

Model2DRigidDyncarNtire::~Model2DRigidDyncarNtire ( ) [inline, virtual]

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Member Function Documentation

virtual MSLVector Model2DRigidDyncarNtire::StateTransitionEquation ( const MSLVector & x, const MSLVector & u ) [virtual]

The state transition equation, or equations of motion, xdot=f(x,u). Reimplemented from Model2DRigidDyncar.

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Member Data Documentation

double Model2DRigidDyncarNtire::Mu

Nonlinear tire model constant.

double Model2DRigidDyncarNtire::Nf

Load on the front tires.

double Model2DRigidDyncarNtire::Nr

Load on the rear tires.

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

• model2d.h

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.