Description

Collaboration diagram for Utility classes:

Classes
class	chrono::vehicle::ChAdaptiveSpeedController
	Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...

class	chrono::vehicle::ChSpeedController
	Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...

class	chrono::vehicle::ChSteeringController
	Base class for all steering path-following PID controllers. More...

class	chrono::vehicle::ChPathSteeringController
	Path-following steering PID controller. More...

class	chrono::vehicle::ChPathSteeringControllerXT
	Path-following steering 3(2) channel PDT1/PT1 controller. More...

class	chrono::vehicle::ChPathSteeringControllerSR
	Path-following steering P-like controller with variable path prediction. More...

class	chrono::vehicle::ChPathSteeringControllerStanley
	This is called the "Stanley" Controller named after an autonomous vehicle called Stanley. More...

class	chrono::vehicle::ChVehicleIrrApp
	custom event receiver for chase-cam control More...

Functions
	chrono::vehicle::ChVehicleIrrApp::ChVehicleIrrApp (ChVehicle *vehicle, const std::wstring &title=L"Chrono::Vehicle", const irr::core::dimension2d< irr::u32 > &dims=irr::core::dimension2d< irr::u32 >(1000, 800), irr::ELOG_LEVEL log_level=irr::ELL_INFORMATION)
	Construct a vehicle Irrlicht application. More...

void	chrono::vehicle::ChVehicleIrrApp::SetSkyBox ()
	Create a skybox that has Z pointing up. More...

void	chrono::vehicle::ChVehicleIrrApp::SetChaseCamera (const ChVector<> &ptOnChassis, double chaseDist, double chaseHeight)
	Set parameters for the underlying chase camera. More...

void	chrono::vehicle::ChVehicleIrrApp::SetStepsize (double val)
	Set the step size for integration of the chase-cam dynamics.

void	chrono::vehicle::ChVehicleIrrApp::SetChaseCameraState (utils::ChChaseCamera::State state)
	Set camera state (mode).

void	chrono::vehicle::ChVehicleIrrApp::SetChaseCameraPosition (const ChVector<> &pos)
	Set camera position. More...

void	chrono::vehicle::ChVehicleIrrApp::SetChaseCameraAngle (double angle)
	Set camera angle.

void	chrono::vehicle::ChVehicleIrrApp::SetChaseCameraMultipliers (double minMult, double maxMult)
	Set camera zoom multipliers.

void	chrono::vehicle::ChVehicleIrrApp::SetHUDLocation (int HUD_x, int HUD_y)
	Set the upper-left point of HUD elements.

void	chrono::vehicle::ChVehicleIrrApp::EnableStats (bool val)
	Turn on/off rendering of stats (HUD).

void	chrono::vehicle::ChVehicleIrrApp::EnableSound (bool sound)
	Turn on/off Irrklang sound generation. More...

virtual void	chrono::vehicle::ChVehicleIrrApp::DrawAll () override
	Render the Irrlicht scene and additional visual elements.

void	chrono::vehicle::ChVehicleIrrApp::RenderGrid (const ChVector<> &loc, int num_divs, double delta)
	Render a horizontal grid at the specified location.

void	chrono::vehicle::ChVehicleIrrApp::RenderFrame (const ChVector<> &loc, double axis_length=1)
	Render a reference frame (aligned with the world frame) at the specified location.

void	chrono::vehicle::ChVehicleIrrApp::Synchronize (const std::string &msg, const ChDriver::Inputs &driver_inputs)
	Update information related to driver inputs.

void	chrono::vehicle::ChVehicleIrrApp::Advance (double step)
	Advance the dynamics of the chase camera. More...

void	chrono::vehicle::ChVehicleIrrApp::WriteImageToFile (const std::string &filename)
	Save a snapshot of the last rendered frame to file. More...

virtual void	chrono::vehicle::ChVehicleIrrApp::renderOtherGraphics ()
	Render additional graphics.

virtual void	chrono::vehicle::ChVehicleIrrApp::renderOtherStats (int left, int top)
	Render additional vehicle information.

void	chrono::vehicle::ChVehicleIrrApp::renderLinGauge (const std::string &msg, double factor, bool sym, int xpos, int ypos, int length=120, int height=15)

void	chrono::vehicle::ChVehicleIrrApp::renderTextBox (const std::string &msg, int xpos, int ypos, int length=120, int height=15, irr::video::SColor color=irr::video::SColor(255, 20, 20, 20))

void	chrono::vehicle::ChVehicleIrrApp::renderStats ()

Variables
ChVehicle *	chrono::vehicle::ChVehicleIrrApp::m_vehicle
	pointer to the associated vehicle system

utils::ChChaseCamera	chrono::vehicle::ChVehicleIrrApp::m_camera
	chase camera

ChCameraEventReceiver *	chrono::vehicle::ChVehicleIrrApp::m_camera_control
	event receiver for chase-cam control

double	chrono::vehicle::ChVehicleIrrApp::m_stepsize
	integration step size for chase-cam dynamics

bool	chrono::vehicle::ChVehicleIrrApp::m_renderStats
	turn on/off rendering of stats

int	chrono::vehicle::ChVehicleIrrApp::m_HUD_x
	x-coordinate of upper-left corner of HUD elements

int	chrono::vehicle::ChVehicleIrrApp::m_HUD_y
	y-coordinate of upper-left corner of HUD elements

std::string	chrono::vehicle::ChVehicleIrrApp::m_driver_msg
	HUD message from driver system.

double	chrono::vehicle::ChVehicleIrrApp::m_steering
	driver steering input

double	chrono::vehicle::ChVehicleIrrApp::m_throttle
	driver throttle input

double	chrono::vehicle::ChVehicleIrrApp::m_braking
	driver braking input

Friends
class	chrono::vehicle::ChVehicleIrrApp::ChCameraEventReceiver

class	chrono::vehicle::ChVehicleIrrApp::ChIrrGuiDriver

class	chrono::vehicle::ChVehicleIrrApp::ChIrrGuiDriverSTR

Function Documentation

◆ Advance()

void chrono::vehicle::ChVehicleIrrApp::Advance ( double step )

Advance the dynamics of the chase camera.

The integration of the underlying ODEs is performed using as many steps as needed to advance by the specified duration.

◆ ChVehicleIrrApp()

chrono::vehicle::ChVehicleIrrApp::ChVehicleIrrApp	(	ChVehicle *	vehicle,
		const std::wstring &	title = `L"Chrono::Vehicle"`,
		const irr::core::dimension2d< irr::u32 > &	dims = `irr::core::dimension2d<irr::u32>(1000, 800)`,
		irr::ELOG_LEVEL	log_level = `irr::ELL_INFORMATION`
	)

Construct a vehicle Irrlicht application.

Parameters

vehicle	pointer to the associated vehicle system
title	window title
dims	window dimensions
log_level	Irrlicht logging level

◆ EnableSound()

void chrono::vehicle::ChVehicleIrrApp::EnableSound ( bool sound )

Turn on/off Irrklang sound generation.

Note that this has an effect only if Irrklang support was enabled at configuration.

◆ SetChaseCamera()

void chrono::vehicle::ChVehicleIrrApp::SetChaseCamera	(	const ChVector<> &	ptOnChassis,
		double	chaseDist,
		double	chaseHeight
	)

Set parameters for the underlying chase camera.

Parameters

ptOnChassis	tracked point on chassis body (in vehicle reference frame)
chaseDist	chase distance (behind tracked point)
chaseHeight	chase height (above tracked point)

◆ SetChaseCameraPosition()

void chrono::vehicle::ChVehicleIrrApp::SetChaseCameraPosition ( const ChVector<> & pos )

inline

Set camera position.

Note that this forces the chase-cam in Track mode.

◆ SetSkyBox()

void chrono::vehicle::ChVehicleIrrApp::SetSkyBox ( )

Create a skybox that has Z pointing up.

Note that the default ChIrrApp::AddTypicalSky() uses Y up.

◆ WriteImageToFile()

void chrono::vehicle::ChVehicleIrrApp::WriteImageToFile ( const std::string & filename )

Save a snapshot of the last rendered frame to file.

The file name extension determines the image format.

Description

Classes

Functions

Variables

Friends