Description

Base class for a vehicle driver system.

A driver system must be able to report the current values of the inputs (throttle, steering, braking). A concrete driver class must set the member variables m_throttle, m_steering, and m_braking.

#include <ChDriver.h>

Inheritance diagram for chrono::vehicle::ChDriver:

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Collaboration diagram for chrono::vehicle::ChDriver:

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Public Member Functions
	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	Synchronize (double time)
	Update the state of this driver system at the current time.

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.

Protected Attributes
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

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChDriver.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChDriver.cpp

Description

Public Member Functions

Protected Attributes