chrono::vehicle::ChDriverSTR Class Reference

Description

Base class for a suspension test rig driver system.

A driver system must be able to report the current values of the inputs (left posts, right posts, steering). A concrete driver class must set the member variables m_displacementLeft, m_displacementRight, m_steering, and - if possible - the rates of change for the displacements (otherwise left at their default value of 0).

#include <ChDriverSTR.h>

Inheritance diagram for chrono::vehicle::ChDriverSTR:

Public Member Functions
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...
virtual bool	Ended () const
	Return true when driver stopped producing inputs.
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.

Protected Member Functions
virtual void	Initialize (int naxles)
	Initialize this driver system.
virtual void	Synchronize (double time)
	Update the state of this driver system at the current time.
virtual std::string	GetInfoMessage () const
	Get string message.
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
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

Friends
class	ChSuspensionTestRig

Member Function Documentation

Started()

bool chrono::vehicle::ChDriverSTR::Started

(

)

const

Return false while driver inputs are ignored (while the rig is reaching the ride height configuration) and true otherwise.

In general, outputs from the test rig should only be collected while Started returns true.

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

• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChDriverSTR.h
• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChDriverSTR.cpp