Real-Time Tire/Road Contact Evaluation Library¶

ENVE is a library for real-time tire/road contact evaluation. It is written in C++11 with a MATLAB MEX interface and a SIMULINK S-Function interface. The library is designed to be used in real-time applications, such as vehicle dynamics simulation and control. The library is based on the ACME library, which is a C++11 library for simple 3D geometry processing.

Installation¶

C++¶

Download the library using git:

git clone git@github.com:StoccoDavide/enve.git —recurse-submodules

Notice that if you forget —recurse-submodules you must download the submdule ACME next. To compile the library you can use cmake:

mkdir build
cd build
cmake ..
make

or rake:

rake build_submodules
rake build # or simply 'rake'

The compiled library and headers are stores as follows:

`-- lib
    |-- include
    |   |-- enve.hh
    |   |-- enve_sfun_interface.hh
    |   |-- enve_sfun_types.hh
    |   `-- enve
    |       |-- flat.hxx
    |       |-- mesh.hxx
    |       |-- output.hxx
    |       |-- rib.hxx
    |       |-- shape.hxx
    |       |-- shell.hxx
    |       `-- triangleground.hxx
    |-- lib
    |   `-- libenve_OSTYPE_static.a
    `-- dll
        `-- libenve_OSTYPE.dylib

where OSTYPE can be linux, osx, mingw_x64, win_x64 depending on your OS.

MATLAB MEX¶

Download the toolbox and install the toobox as usual. Run CompileENVElib_CMake on MATLAB Command Window to compile the MATLAB MEX library with cmake.

SIMULINK S-Function¶

Compile the C++ library as explained above. Then, run CompileENVEsfun on MATLAB Command Window to compile the SIMULINK S-Function.

Index¶

Authors C++/MATLAB MEX¶

Davide Stocco
Department of Industrial Engineering
University of Trento

Enrico Bertolazzi
Department of Industrial Engineering
University of Trento

Authors SIMULINK S-Function¶

Matteo Larcher
Department of Industrial Engineering
University of Trento

Davide Stocco
Department of Industrial Engineering
University of Trento

License¶

This file is part of the ENVE project

Copyright (c) 2020, Davide Stocco <davide.stocco@unitn.it>, Matteo Larcher
<matteo.larcher@unitn.it> and Enrico Bertolazzi <enrico.bertolazzi@unitn.it>.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
  list of conditions and the following disclaimer.

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  this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors
  may be used to endorse or promote products derived from this software without
  specific prior written permission.

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