chrono::vehicle::ChSuspensionTestRigInteractiveDriver Class Reference

Description

Interactive driver for a suspension test rig.

This class implements support for keyboard control of a suspension test rig, but is independent of a particular implementation of a keyboard event handler.

#include <ChSuspensionTestRigInteractiveDriver.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRigInteractiveDriver:

Collaboration diagram for chrono::vehicle::ChSuspensionTestRigInteractiveDriver:

Public Member Functions
int	GetActiveAxle () const
	Get the currently actuated axle.
double	GetLeft ()
	Get the left post displacement.
double	GetRight ()
	Get the right post displacement.
void	NextAxle ()
	Change actuated axle to next (cycle as needed).
void	PreviousAxle ()
	Change actuated axle to previous (cycle as needed).
void	IncrementSteering ()
	Increment steering input.
void	DecrementSteering ()
	Decrement steering input.
void	IncrementLeft ()
	Increment displacement of left post.
void	DecrementLeft ()
	Decrement displacement of left post.
void	IncrementRight ()
	Increment displacement of right post.
void	DecrementRight ()
	Decrement displacement of right post.
void	SetDisplacementDelta (double delta)
	Set the time response for post displacement control. More...
void	SetSteeringDelta (double delta)
	Set the time response for steering control. More...
Public Member Functions inherited from chrono::vehicle::ChSuspensionTestRigDriver
double	GetSteering () const
	Get the driver steering input (in the range [-1,+1]).
void	SetSteering (double val, double min_val=-1, double max_val=1)
	Set the value for the driver steering input.
const std::vector< double > &	GetDisplacementLeft () const
	Get all left post vertical displacement inputs (each in the range [-1,+1]).
void	SetDisplacementLeft (int axle, double val, double min_val=-1, double max_val=1)
	Set the value for the driver left post displacement input.
const std::vector< double > &	GetDisplacementRight () const
	Get all right post vertical displacement inputs (each in the range [-1,+1]).
void	SetDisplacementRight (int axle, double val, double min_val=-1, double max_val=1)
	Set the value for the driver right post displacement input.
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::ChSuspensionTestRigDriver
virtual void	Initialize (int num_axles)
	Initialize this driver system.
virtual void	Synchronize (double time)
	Update the state of this driver system at the current time.
Protected Attributes inherited from chrono::vehicle::ChSuspensionTestRigDriver
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::ChSuspensionTestRigInteractiveDriver::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). Default: 1/100.

SetSteeringDelta()

void chrono::vehicle::ChSuspensionTestRigInteractiveDriver::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). Default: 1/250.

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