chrono::vehicle::ChIrrGuiDriverSTR Class Reference

## Description

Irrlicht-based GUI driver for the a suspension test rig.

This class implements the functionality required by its base ChDriverSTR class using keyboard inputs. As an Irrlicht event receiver, its OnEvent() callback is used to keep track and update the current driver inputs.

#include <ChIrrGuiDriverSTR.h>

Inheritance diagram for chrono::vehicle::ChIrrGuiDriverSTR:
Collaboration diagram for chrono::vehicle::ChIrrGuiDriverSTR:

## Public Member Functions

ChIrrGuiDriverSTR (irrlicht::ChIrrApp &app)

void SetSteeringDelta (double delta)
Set the time response for steering control. More...

void SetDisplacementDelta (double delta)
Set the time response for post displacement control. More...

Public Member Functions inherited from chrono::vehicle::ChDriverSTR
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 GetDisplacementSpeedLeft () const
Get the left post displacement rate of change.

double GetDisplacementSpeedRight () const
Get the right post displacement rate of change.

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

bool Started () const
Return false while driver inputs are ignored (while the rig is reaching the ride height configuration) and true otherwise. More...

virtual bool Ended () const
Return true when driver stopped producing inputs.

Initialize output file for recording driver inputs.

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

Protected Member Functions inherited from chrono::vehicle::ChDriverSTR
virtual void Initialize ()
Initialize this driver system.

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

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

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

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

Protected Attributes inherited from chrono::vehicle::ChDriverSTR
double m_displLeft
current value of left post displacement

double m_displRight
current value of right post displacement

double m_displSpeedLeft
current value of left post displacement rate of change

double m_displSpeedRight
current value of right post displacement rate of change

double m_steering
current value of steering input

double m_delay
time delay before generating inputs

## ◆ SetDisplacementDelta()

 void chrono::vehicle::ChIrrGuiDriverSTR::SetDisplacementDelta ( double delta )
inline

Set the time response for post displacement control.

The provided value represents the time (in seconds) for increasing the displacement input from 0 to 1 (or decreasing it from 0 to -1).

## ◆ SetSteeringDelta()

 void chrono::vehicle::ChIrrGuiDriverSTR::SetSteeringDelta ( double delta )
inline

Set the time response for steering control.

The provided value represents the time (in seconds) for increasing the steering input from 0 to 1 (or decreasing it from 0 to -1).

The documentation for this class was generated from the following files:
• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChIrrGuiDriverSTR.h
• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChIrrGuiDriverSTR.cpp