chrono::vehicle::ChDriverSTR Class Reference

## Description

Base class for a suspension test rig driver system.

A driver system must be able to report the current values of the inputs (left post, right post, steering). A concrete driver class must set the member variables m_displacementLeft, m_displacementRight, and m_steering.

#include <ChDriverSTR.h>

Inheritance diagram for chrono::vehicle::ChDriverSTR:

## Public Member Functions

double GetDisplacementLeft () const
Get the left post vertical displacement (in the range [-1,+1])

double GetDisplacementRight () const
Get the right post vertical displacement (in the range [-1,+1])

double GetSteering () const
Get the driver steering input (in the range [-1,+1])

virtual void Initialize ()
Initialize this driver system.

virtual void Synchronize (double time)
Update the state of this driver system at the current time.

Initialize output file for recording driver inputs.

bool Log (double time)
Record the current driver inputs to the log file.

void SetTimeDelay (double delay)
Set value of the time delay. More...

void SetDisplacementLeft (double val, double min_val=-1, double max_val=1)
Overwrite the value for the driver left post displacement input.

void SetDisplacementRight (double val, double min_val=-1, double max_val=1)
Overwrite the value for the driver right post displacement input.

void SetSteering (double val, double min_val=-1, double max_val=1)
Overwrite the value for the driver steering input.

## Protected Attributes

double m_displLeft
current value of left post displacement

double m_displRight
current value of right post displacement

double m_steering
current value of steering input

double m_delay
time delay before generating inputs

## Member Function Documentation

 void chrono::vehicle::ChDriverSTR::SetTimeDelay ( double delay )

Set value of the time delay.

During this initial time period, no driver inputs are generated.