chrono::vehicle::ChDataDriverSTR Class Reference
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:
time | steering | left_post0 right_post0 | left_post1 right_post1 | ...
It is assumed that the time values are unique. 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 | GetSteering () const |
| Get the driver steering input (in the range [-1,+1]). | |
| const std::vector< double > & | GetDisplacementLeft () const |
| Get the left post vertical displacement inputs (each in the range [-1,+1]). | |
| const std::vector< double > & | GetDisplacementRight () const |
| Get the right post vertical displacement inputs (each in the range [-1,+1]). | |
| const std::vector< double > & | GetDisplacementSpeedLeft () const |
| Get the left post displacement rates of change. | |
| const std::vector< double > & | GetDisplacementSpeedRight () const |
| Get the right post displacement rates of change. | |
| 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 | |
| void | SetDisplacementLeft (int axle, double val, double min_val=-1, double max_val=1) |
| Set the value for the driver left post displacement input. | |
| void | SetDisplacementRight (int axle, 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 | |
| int | m_naxles |
| number of actuated axles | |
| std::vector< double > | m_displLeft |
| current value of left post displacements | |
| std::vector< double > | m_displRight |
| current value of right post displacements | |
| std::vector< double > | m_displSpeedLeft |
| current value of left post displacement rates of change | |
| std::vector< double > | m_displSpeedRight |
| current value of right post displacement rates 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
