LibCarla/source/carla/rpc/WheelPhysicsControl.h

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// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/geom/Vector3D.h"
#include "carla/MsgPack.h"
 
namespace carla {
namespace rpc {
 
  // 为车轮对象定义特定物理参数的类
  class WheelPhysicsControl {
  public:
 
    WheelPhysicsControl() = default;
 
    WheelPhysicsControl(
        float in_tire_friction,         // 表示车轮摩擦力的标量值
        float in_damping_rate,          // 车轮的阻尼率
        float in_max_steer_angle,       // 车轮可以转向的最大角度
        float in_radius,                // 轮子的半径（单位：厘米）
        float in_max_brake_torque,      // 最大制动扭矩
        float in_max_handbrake_torque,  // 最大手刹扭矩
        float in_lat_stiff_max_load,    // 最大标准化轮胎负载，在该负载下，无论向轮胎施加多少额外负载，轮胎都不再提供侧向刚度。每辆车都有一个自定义值。
        float in_lat_stiff_value,       // 每单位横向滑移的最大刚度。每辆车都有一个自定义值。
        float in_long_stiff_value,      // 每单位重力加速度的轮胎纵向刚度。每辆车都有一个自定义值。
        geom::Vector3D in_position)
      : tire_friction(in_tire_friction),
        damping_rate(in_damping_rate),
        max_steer_angle(in_max_steer_angle),
        radius(in_radius),
        max_brake_torque(in_max_brake_torque),
        max_handbrake_torque(in_max_handbrake_torque),
        lat_stiff_max_load(in_lat_stiff_max_load),
        lat_stiff_value(in_lat_stiff_value),
        long_stiff_value(in_long_stiff_value),
        position(in_position) {}
 
    float tire_friction = 2.0f;
    float damping_rate = 0.25f;
    float max_steer_angle = 70.0f;
    float radius = 30.0f;
    float max_brake_torque = 1500.0f;
    float max_handbrake_torque = 3000.0f;
    float lat_stiff_max_load = 2.0f;
    float lat_stiff_value = 17.0f;
    float long_stiff_value = 1000.0f;
    geom::Vector3D position = {0.0f, 0.0f, 0.0f};
 
    bool operator!=(const WheelPhysicsControl &rhs) const {
      return
        tire_friction != rhs.tire_friction ||
        damping_rate != rhs.damping_rate ||
        max_steer_angle != rhs.max_steer_angle ||
        radius != rhs.radius ||
        max_brake_torque != rhs.max_brake_torque ||
        max_handbrake_torque != rhs.max_handbrake_torque ||
        lat_stiff_max_load != rhs.lat_stiff_max_load ||
        lat_stiff_value != rhs.lat_stiff_value ||
        long_stiff_value != rhs.long_stiff_value ||
        position != rhs.position;
    }
 
    bool operator==(const WheelPhysicsControl &rhs) const {
      return !(*this != rhs);
    }
#ifdef LIBCARLA_INCLUDED_FROM_UE4
 
    WheelPhysicsControl(const FWheelPhysicsControl &Wheel)
      : tire_friction(Wheel.TireFriction),
        damping_rate(Wheel.DampingRate),
        max_steer_angle(Wheel.MaxSteerAngle),
        radius(Wheel.Radius),
        max_brake_torque(Wheel.MaxBrakeTorque),
        max_handbrake_torque(Wheel.MaxHandBrakeTorque),
        lat_stiff_max_load(Wheel.LatStiffMaxLoad),
        lat_stiff_value(Wheel.LatStiffValue),
        long_stiff_value(Wheel.LongStiffValue),
        position(Wheel.Position.X, Wheel.Position.Y, Wheel.Position.Z) {}
 
    operator FWheelPhysicsControl() const {
      FWheelPhysicsControl Wheel;
      Wheel.TireFriction = tire_friction;
      Wheel.DampingRate = damping_rate;
      Wheel.MaxSteerAngle = max_steer_angle;
      Wheel.Radius = radius;
      Wheel.MaxBrakeTorque = max_brake_torque;
      Wheel.MaxHandBrakeTorque = max_handbrake_torque;
      Wheel.LatStiffMaxLoad = lat_stiff_max_load;
      Wheel.LatStiffValue = lat_stiff_value;
      Wheel.LongStiffValue = long_stiff_value;
      Wheel.Position = {position.x, position.y, position.z};
      return Wheel;
    }
#endif
 
    MSGPACK_DEFINE_ARRAY(tire_friction,
        damping_rate,
        max_steer_angle,
        radius,
        max_brake_torque,
        max_handbrake_torque,
        lat_stiff_max_load,
        lat_stiff_value,
        long_stiff_value,
        position)
  };
 
}
}