chrono::synchrono::SynQueryEnvBrain Class Reference

Description

Vehicle Brain instance that instructs its vehicle to follow a given curve and stop based on zombie agent and traffic light message data.

#include <SynQueryEnvBrain.h>

Inheritance diagram for chrono::synchrono::SynQueryEnvBrain:

Collaboration diagram for chrono::synchrono::SynQueryEnvBrain:

Public Member Functions
	SynQueryEnvBrain (int rank, std::shared_ptr< vehicle::ChDriver > driver, vehicle::ChVehicle &vehicle, std::vector< int > veh_ranks)
	Construct a new QueryEnvBrain object. More...
	~SynQueryEnvBrain ()
	Destroy the QueryEnvBrain object.
virtual void	Synchronize (double time)
	Updates the CurrentDistance of the underlying ACC Driver based on traffic light and vehicle proximity data. More...
virtual void	Advance (double step)
	Calls the advance function of the underlying driver. More...
virtual void	ProcessMessage (SynMessage *msg)
	Updates state variables with information from the passed in message. More...
Public Member Functions inherited from chrono::synchrono::SynVehicleBrain
	SynVehicleBrain (int rank, std::shared_ptr< vehicle::ChDriver > driver, vehicle::ChVehicle &vehicle)
	Constructor which takes and sets this brains ChDriver and ChVehicle.
	~SynVehicleBrain ()
	Destructor.
virtual void	GenerateMessagesToSend (std::vector< SynMessage * > &messages) override
	Generate vector of SynMessage's to send.
vehicle::ChDriver::Inputs	GetDriverInputs ()
	Get the driver inputs from the attached driver.
std::shared_ptr< vehicle::ChDriver >	GetDriver ()
	Get the attached driver.
void	SetDriver (std::shared_ptr< vehicle::ChDriver > driver)
	Set the attached driver.
vehicle::ChVehicle &	GetVehicle ()
Public Member Functions inherited from chrono::synchrono::SynBrain
	SynBrain (int rank)
	Constructor.
virtual	~SynBrain ()
	Destructor.
int	GetRank ()
	Get this brain's rank.

Public Attributes
const double	FAR_DISTANCE = 1000
	Default distance to pass to ACC Driver.
const double	BOX_WIDTH = 2.5
	Width of the box used for detecting other vehicles.
const double	BOX_LENGTH = 25
	Length (ahead of the ego vehicle) of the box used for detecting other vehicles.
const double	BOX_OFFSET = 2.5
	Distance ahead of this vehicle to start the box.

Additional Inherited Members
Protected Attributes inherited from chrono::synchrono::SynVehicleBrain
std::shared_ptr< vehicle::ChDriver >	m_driver
	handle to the ChDriver
vehicle::ChVehicle &	m_vehicle
Protected Attributes inherited from chrono::synchrono::SynBrain
int	m_rank
	rank of this brain

Constructor & Destructor Documentation

SynQueryEnvBrain()

chrono::synchrono::SynQueryEnvBrain::SynQueryEnvBrain	(	int	rank,
		std::shared_ptr< vehicle::ChDriver >	driver,
		vehicle::ChVehicle &	vehicle,
		std::vector< int >	veh_ranks
	)

Construct a new QueryEnvBrain object.

Parameters

rank	The MPI rank that this brain is associated with
driver	ACCPathFollowerDriver that will be used to steer this vehicle
vehicle	The Chrono Vehicle that is driven by this Brain
veh_ranks	A vector of the other ranks in simulation who should be checked for proximity

Member Function Documentation

Advance()

void chrono::synchrono::SynQueryEnvBrain::Advance ( double  step )

virtual

Calls the advance function of the underlying driver.

Parameters

step	See the ACCPathFollowerDriver::Advance

Reimplemented from chrono::synchrono::SynVehicleBrain.

ProcessMessage()

void chrono::synchrono::SynQueryEnvBrain::ProcessMessage ( SynMessage *  msg )

virtual

Updates state variables with information from the passed in message.

Parameters

msg	The message to be processed. If a vehicle message, the position will be set in the m_other_vehicles structure, if a MAP or SPAT message, the traffic light varibles will be updated

Reimplemented from chrono::synchrono::SynVehicleBrain.

Synchronize()

void chrono::synchrono::SynQueryEnvBrain::Synchronize ( double  time )

virtual

Updates the CurrentDistance of the underlying ACC Driver based on traffic light and vehicle proximity data.

Parameters

time	The time in simulation that should be synchronized to

Reimplemented from chrono::synchrono::SynVehicleBrain.

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

• /builds/uwsbel/chrono/src/chrono_synchrono/brain/SynQueryEnvBrain.h
• /builds/uwsbel/chrono/src/chrono_synchrono/brain/SynQueryEnvBrain.cpp