Description

Driver inputs for a suspension test rig from data file.

A driver model based on user inputs provided as time series. If provided as a text file, each line in the file must contain 4 values:

  time  left_post  right_post  steering

It is assumed that the time values are unique. If the time values are not sorted, this must be specified at construction. Inputs for post_left, post_right, and steering are assumed to be normalized in the range [-1,1]. Driver inputs at intermediate times are obtained through cubic spline interpolation.

#include <ChDataDriverSTR.h>

Inheritance diagram for chrono::vehicle::ChDataDriverSTR:
Collaboration diagram for chrono::vehicle::ChDataDriverSTR:

Public Member Functions

 ChDataDriverSTR (const std::string &filename)
 Construct using data from the specified file.
 
virtual bool Ended () const override
 Return true when driver stopped producing inputs (end of data).
 
- 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...
 
bool LogInit (const std::string &filename)
 Initialize output file for recording driver inputs.
 
bool Log (double time)
 Record the current driver inputs to the log file.
 

Additional Inherited Members

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

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