chrono::vehicle::ChDataDriver Class Reference
Description
Driver inputs 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 steering throttle braking It is assumed that the time values are unique. If the time values are not sorted, this must be specified at construction. Driver inputs at intermediate times are obtained through linear interpolation.
#include <ChDataDriver.h>
Inheritance diagram for chrono::vehicle::ChDataDriver:
Collaboration diagram for chrono::vehicle::ChDataDriver:
Classes | |
| struct | Entry |
| Definition of driver inputs at a given time. More... | |
Public Member Functions | |
| ChDataDriver (ChVehicle &vehicle, const std::string &filename, bool sorted=true) | |
| Construct using data from the specified file. More... | |
| ChDataDriver (ChVehicle &vehicle, const std::vector< Entry > &data, bool sorted=true) | |
| Construct using data from the specified data entries. More... | |
| virtual void | Synchronize (double time) override |
| Update the driver system at the specified time. More... | |
 Public Member Functions inherited from chrono::vehicle::ChDriver | |
| ChDriver (ChVehicle &vehicle) | |
| Construct a driver subsystem associated with the given 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]) | |
| DriverInputs | GetInputs () const |
| Get all current inputs at once. | |
| virtual void | Initialize () |
| Initialize this driver system. | |
| virtual void | Advance (double step) |
| Advance the state of this driver system by the specified time step. | |
| 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. | |
Additional Inherited Members | |
| 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 | |
Constructor & Destructor Documentation
◆ ChDataDriver() [1/2]
| chrono::vehicle::ChDataDriver::ChDataDriver | ( | ChVehicle & | vehicle, |
| const std::string & | filename, | ||
| bool | sorted = true |
||
| ) |
Construct using data from the specified file.
- Parameters
-
vehicle associated vehicle filename name of data file sorted indicate whether entries are sorted by time stamps
◆ ChDataDriver() [2/2]
| chrono::vehicle::ChDataDriver::ChDataDriver | ( | ChVehicle & | vehicle, |
| const std::vector< Entry > & | data, | ||
| bool | sorted = true |
||
| ) |
Construct using data from the specified data entries.
- Parameters
-
vehicle associated vehicle data vector of data entries sorted indicate whether entries are sorted by time stamps
Member Function Documentation
◆ Synchronize()
|
overridevirtual |
Update the driver system at the specified time.
The driver inputs are obtained through linear interpolation between the provided data points.
Reimplemented from chrono::vehicle::ChDriver.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChDataDriver.h
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChDataDriver.cpp
