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 <ChSuspensionTestRigDriver.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRigDriver:

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::ChSuspensionTestRigDriver::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.


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