## 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>

## Public Member Functions

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...

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.

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: