Wheel slip nonlinear effect part 2 (not for merging) #3399
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This breaks ABI, so is not intended for gazebo11. Compute and cache mass in Model::Init. Signed-off-by: Steve Peters <[email protected]>
This returns the total forces added by the AddForce and AddRelativeForce APIs. This change breaks ABI and is not intended for gazebo11. Signed-off-by: Steve Peters <[email protected]>
Apply scaling to slip compliance above and below threshold slopes to induce a nonnlinear effect. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
The slip compliance parameters are currently scaled by the number of contact points, but this can cause issues on heightmaps when transitioning between triangle patches. This adds a parameter to disable the scaling behavior, while retaining the current behavior as the default. Signed-off-by: Steve Peters <[email protected]>
This extends the nonlinear wheel slip model with piecewise linear parameters for the slip compliance multipliers. Signed-off-by: Steve Peters <[email protected]>
* Refactor the data definitions and parsing method to reduce duplication. * Refine some unit vector calculations in ODEPhysics as well. Signed-off-by: Steve Peters <[email protected]>
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This has some additional commits since #3342 was closed