Description

Interactive driver model using keyboard inputs.

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

See also: ChDataDriver

#include <ChIrrGuiDriver.h>

Inheritance diagram for chrono::vehicle::ChIrrGuiDriver:

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Collaboration diagram for chrono::vehicle::ChIrrGuiDriver:

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Public Types
enum	InputMode { LOCK, KEYBOARD, DATAFILE, JOYSTICK }
	Functioning modes for a ChIrrGuiDriver. More...

enum	JoystickAxes { AXIS_X = irr::SEvent::SJoystickEvent::AXIS_X, AXIS_Y = irr::SEvent::SJoystickEvent::AXIS_Y, AXIS_Z = irr::SEvent::SJoystickEvent::AXIS_Z, AXIS_R = irr::SEvent::SJoystickEvent::AXIS_R, AXIS_U = irr::SEvent::SJoystickEvent::AXIS_U, AXIS_V = irr::SEvent::SJoystickEvent::AXIS_V, NONE }
	Exposes the unnamed enum of irrlicht axes to enforce right values in API usage.

Public Member Functions
	ChIrrGuiDriver (ChVehicleIrrApp &app)
	Construct an Irrlicht GUI driver. More...

virtual bool	OnEvent (const irr::SEvent &event) override
	Intercept and process keyboard inputs. More...

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

virtual void	Advance (double step) override
	Advance the state of this driver system by the specified time step.

void	SetThrottleDelta (double delta)
	Set the increment in throttle input for each recorded keypress (default 1/50).

void	SetSteeringDelta (double delta)
	Set the increment in steering input for each recorded keypress (default 1/50).

void	SetBrakingDelta (double delta)
	Set the increment in braking input for each recorded keypress (default 1/50).

void	SetStepsize (double val)
	Set the step size for integration of the internal driver dynamics.

void	SetGains (double steering_gain, double throttle_gain, double braking_gain)
	Set gains for internal dynamics. More...

void	SetInputDataFile (const std::string &filename)
	Set the input file for the underlying data driver.

void	SetInputMode (InputMode mode)
	Set the current functioning mode.

std::string	GetInputModeAsString () const
	Return the current functioning mode as a string.

void	SetJoystickAxes (JoystickAxes tr_ax, JoystickAxes br_ax, JoystickAxes st_ax, JoystickAxes cl_ax)
	Set joystick axes: throttle, brake, steering, clutch.

JoystickAxes	GetThrottleAxis (JoystickAxes tr_ax) const
	Get joystick axes for the throttle.

JoystickAxes	GetBrakeAxis (JoystickAxes br_ax) const
	Get joystick axes for the brake.

JoystickAxes	GetSteerAxis (JoystickAxes st_ax) const
	Get joystick axes for the steer.

JoystickAxes	GetClutchAxis (JoystickAxes cl_ax) const
	Get joystick axes for the clutch.

void	SetButtonCallback (int button, void(*cbfun)())
	Feed button number and callback function to implement a custom callback.

Public Member Functions inherited from chrono::vehicle::ChDriver
	ChDriver (ChVehicle &vehicle)

double	GetThrottle () const
	Get the driver throttle input (in the range [0,1])

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

double	GetBraking () const
	Get the driver braking input (in the range [0,1])

Inputs	GetInputs () const
	Get all current inputs at once.

virtual void	Initialize ()
	Initialize this driver system.

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.

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

void	SetThrottle (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver throttle input.

void	SetBraking (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver braking input.

Protected Attributes
ChVehicleIrrApp &	m_app

InputMode	m_mode
	current mode of the driver

double	m_steering_target
	current target value for steering input

double	m_throttle_target
	current target value for throttle input

double	m_braking_target
	current target value for braking input

double	m_stepsize
	time step for internal dynamics

double	m_steering_delta
	steering increment on each keypress

double	m_throttle_delta
	throttle increment on each keypress

double	m_braking_delta
	braking increment on each keypress

double	m_steering_gain
	gain for steering internal dynamics

double	m_throttle_gain
	gain for throttle internal dynamics

double	m_braking_gain
	gain for braking internal dynamics

int	m_dT

JoystickAxes	throttle_axis = AXIS_Z

JoystickAxes	brake_axis = AXIS_R

JoystickAxes	steer_axis = AXIS_X

JoystickAxes	clutch_axis = AXIS_Y

int	callbackButton = -1

void(*	cb_fun )() = nullptr

double	m_time_shift
	time at which mode was switched to DATAFILE

std::shared_ptr< ChDataDriver >	m_data_driver
	embedded data driver (for playback)

Protected Attributes inherited from chrono::vehicle::ChDriver
ChVehicle &	m_vehicle
	reference to associated vehicle

double	m_throttle
	current value of throttle input

double	m_steering
	current value of steering input

double	m_braking
	current value of braking input

Member Enumeration Documentation

◆ InputMode

enum chrono::vehicle::ChIrrGuiDriver::InputMode

Functioning modes for a ChIrrGuiDriver.

Enumerator
LOCK	driver inputs locked at current values
KEYBOARD	driver inputs from keyboard
DATAFILE	driver inputs from data file
JOYSTICK	driver inputs from joystick

Constructor & Destructor Documentation

◆ ChIrrGuiDriver()

chrono::vehicle::ChIrrGuiDriver::ChIrrGuiDriver ( ChVehicleIrrApp & app )

Construct an Irrlicht GUI driver.

Activates joysticks, if available

Member Function Documentation

◆ OnEvent()

bool chrono::vehicle::ChIrrGuiDriver::OnEvent ( const irr::SEvent & event )

overridevirtual

Intercept and process keyboard inputs.

Only handles joystick events

Driver only handles input every 16 ticks (~60 Hz)

Gear is set to reverse

Only interpret keyboard inputs.

◆ SetGains()

void chrono::vehicle::ChIrrGuiDriver::SetGains	(	double	steering_gain,
		double	throttle_gain,
		double	braking_gain
	)

Set gains for internal dynamics.

Default values are 4.0.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChIrrGuiDriver.h
/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChIrrGuiDriver.cpp