Description
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()
|
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.