Description

Irrlicht-based GUI driver for the a suspension test rig.

This class implements the functionality required by its base ChDriverSTR class using keyboard inputs. As an Irrlicht event receiver, its OnEvent() callback is used to keep track and update the current inputs.

#include <ChIrrGuiDriverSTR.h>

Inheritance diagram for chrono::vehicle::ChIrrGuiDriverSTR:
Collaboration diagram for chrono::vehicle::ChIrrGuiDriverSTR:

Public Member Functions

 ChIrrGuiDriverSTR (irrlicht::ChIrrApp &app)
 
void SetSteeringDelta (double delta)
 Set the time response for steering control. More...
 
void SetDisplacementDelta (double delta)
 Set the time response for post displacement control. More...
 
- 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...
 
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.
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChDriverSTR
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.
 
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
 

Member Function Documentation

◆ SetDisplacementDelta()

void chrono::vehicle::ChIrrGuiDriverSTR::SetDisplacementDelta ( double  delta)
inline

Set the time response for post displacement control.

The provided value represents the time (in seconds) for increasing the displacement input from 0 to 1 (or decreasing it from 0 to -1).

◆ SetSteeringDelta()

void chrono::vehicle::ChIrrGuiDriverSTR::SetSteeringDelta ( double  delta)
inline

Set the time response for steering control.

The provided value represents the time (in seconds) for increasing the steering input from 0 to 1 (or decreasing it from 0 to -1).


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChIrrGuiDriverSTR.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChIrrGuiDriverSTR.cpp