Description

Interactive driver for the a vehicle.

This class implements support for keyboard or joystick control of a vehicle, but is independent of a particular implementation of a keyboard/joystick event handler.

#include <ChInteractiveDriver.h>

Inheritance diagram for chrono::vehicle::ChInteractiveDriver:

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Collaboration diagram for chrono::vehicle::ChInteractiveDriver:

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Public Types
enum	InputMode { InputMode::LOCK, InputMode::KEYBOARD, InputMode::JOYSTICK }
	Functioning modes for a ChInteractiveDriver. More...

enum	KeyboardMode { KeyboardMode::CUMULATIVE, KeyboardMode::HELD }
	Semantics of the keyboard driving controls (used only in InputMode::KEYBOARD). More...

enum	InputKey { InputKey::THROTTLE, InputKey::BRAKE, InputKey::STEER_LEFT, InputKey::STEER_RIGHT, InputKey::CLUTCH }
	Driving controls tracked in KeyboardMode::HELD. More...

Public Member Functions
	ChInteractiveDriver (ChVehicle &vehicle)
	Construct an interactive driver.

virtual bool	HasJoystick () const
	Check if joystick is supported.

void	SetInputMode (InputMode mode)
	Set the current functioning mode.

InputMode	GetInputMode () const

void	SetKeyboardMode (KeyboardMode mode)
	Select the semantics of the keyboard driving controls. More...

KeyboardMode	GetKeyboardMode () const

void	SetDefaultKeyboardMode (KeyboardMode mode)
	Propose a keyboard mode, to be called by an input backend that knows which modes it can support. More...

void	SetKeyState (InputKey key, bool pressed)
	Report that a driving control key was pressed (true) or released (false). More...

void	ReleaseAllKeys ()
	Report that all driving control keys are released. More...

void	SetThrottleDelta (double delta)
	Set the increment in throttle input for each recorded keypress (default 1/50). More...

void	SetSteeringDelta (double delta)
	Set the increment in steering input for each recorded keypress (default 1/50). More...

void	SetBrakingDelta (double delta)
	Set the increment in braking input for each recorded keypress (default 1/50). More...

void	SetClutchDelta (double delta)
	Set the increment in clutch input for each recorded keypress (default 1/50). More...

void	SetStepsize (double val)
	Set the step size for integration of the internal driver dynamics.

void	SetGains (double steering_gain=1, double throttle_gain=1, double braking_gain=1, double clutch_gain=1)
	Set gains for internal dynamics (default values are 4.0). More...

void	IncreaseThrottle ()
	Increase Throttle (KeyboardMode::CUMULATIVE)

void	DecreaseThrottle ()
	Decrease Throttle (KeyboardMode::CUMULATIVE)

void	SteeringLeft ()
	Steering Left (KeyboardMode::CUMULATIVE)

void	SteeringRight ()
	Steering Right (KeyboardMode::CUMULATIVE)

void	IncreaseClutch ()
	Increase Clutch (KeyboardMode::CUMULATIVE)

void	DecreaseClutch ()
	Decrease Clutch (KeyboardMode::CUMULATIVE)

void	SteeringCenter ()
	Center Steering.

void	ReleasePedals ()
	Release Pedals.

virtual void	Synchronize (double time) override
	Update the state of this driver system at the specified time.

virtual void	Advance (double step) override
	Advance the state of this driver system by the specified time step.

Public Member Functions inherited from chrono::vehicle::ChDriver
	ChDriver (ChVehicle &vehicle)
	Construct a driver subsystem associated with the given vehicle.

double	GetThrottle () const
	Get the driver throttle input (in the range [0,1]).

double	GetSteering () const
	Get the driver steering input (in the range [-1,+1]).

double	GetBraking () const
	Get the driver braking input (in the range [0,1]).

double	GetClutch () const
	Get the driver clutch input (in the range [0,1]).

DriverInputs	GetInputs () const
	Get all current inputs at once.

virtual void	Initialize ()
	Initialize this driver system.

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.

void	SetSteering (double steering)
	Overwrite the value for the driver steering input (input is clamped in [-1,+1]).

void	SetThrottle (double throttle)
	Overwrite the value for the driver throttle input (input is clamped in [0,+1]).

void	SetBraking (double braking)
	Overwrite the value for the driver braking input (input is clamped in [0,+1]).

void	SetClutch (double clutch)
	Overwrite the value for the clutch braking input (input is clamped in [0,+1]).

virtual void	WriteCheckpoint (ChCheckpoint::Format format, const std::string &filename) const
	Checkpoint the state of this driver to the given checkpoint file. More...

virtual void	ReadCheckpoint (ChCheckpoint::Format format, const std::string &filename)
	Initialize this driver from the given checkpoint file. More...

Protected Member Functions
void	UpdateTargetsFromHeldKeys ()
	Recompute the input targets from the set of keys currently held down (KeyboardMode::HELD).

Protected Attributes
InputMode	m_mode
	current mode of the driver

KeyboardMode	m_keyboard_mode
	semantics of the keyboard driving controls

bool	m_keyboard_mode_user_set
	application explicitly selected a keyboard mode

bool	m_key_throttle
	throttle key currently held down

bool	m_key_brake
	brake key currently held down

bool	m_key_steer_left
	steer-left key currently held down

bool	m_key_steer_right
	steer-right key currently held down

bool	m_key_clutch
	clutch key currently held down

double	m_steering_target
	current target value for steering input

double	m_throttle_target
	current target value for throttle input

double	m_braking_target
	current target value for braking input

double	m_clutch_target
	current target value for clutch input

double	m_stepsize
	time step for internal dynamics

double	m_steering_delta
	steering increment on each keypress

double	m_throttle_delta
	throttle increment on each keypress

double	m_braking_delta
	braking increment on each keypress

double	m_clutch_delta
	clutch increment on each keypress

double	m_steering_gain
	gain for steering internal dynamics

double	m_throttle_gain
	gain for throttle internal dynamics

double	m_braking_gain
	gain for braking internal dynamics

double	m_clutch_gain
	gain for clutch internal dynamics

Protected Attributes inherited from chrono::vehicle::ChDriver
ChVehicle &	m_vehicle
	reference to associated vehicle

double	m_throttle
	current value of throttle input

double	m_steering
	current value of steering input

double	m_braking
	current value of braking input

double	m_clutch
	current value of clutch input

Member Enumeration Documentation

◆ InputKey

enum chrono::vehicle::ChInteractiveDriver::InputKey

strong

Driving controls tracked in KeyboardMode::HELD.

Enumerator
THROTTLE	accelerator pedal (default key 'W')
BRAKE	brake pedal (default key 'S')
STEER_LEFT	steer left (default key 'A')
STEER_RIGHT	steer right (default key 'D')
CLUTCH	clutch pedal (default key 'E'; manual transmission only)

◆ InputMode

enum chrono::vehicle::ChInteractiveDriver::InputMode

strong

Functioning modes for a ChInteractiveDriver.

Enumerator
LOCK	driver inputs locked at current values
KEYBOARD	driver inputs from keyboard
JOYSTICK	driver inputs from joystick

◆ KeyboardMode

enum chrono::vehicle::ChInteractiveDriver::KeyboardMode

strong

Semantics of the keyboard driving controls (used only in InputMode::KEYBOARD).

Enumerator
CUMULATIVE	each keypress nudges the input by a fixed increment; historical Chrono::Vehicle behavior
HELD	inputs follow the keys currently held down, as in a driving game (see SetKeyState)

Member Function Documentation

◆ ReleaseAllKeys()

void chrono::vehicle::ChInteractiveDriver::ReleaseAllKeys ( )

Report that all driving control keys are released.

Call this when the input backend can no longer observe the keyboard (e.g., on loss of window focus), so that inputs do not stay pinned at their last value.

◆ SetBrakingDelta()

void chrono::vehicle::ChInteractiveDriver::SetBrakingDelta ( double delta )

inline

Set the increment in braking input for each recorded keypress (default 1/50).

Used only in KeyboardMode::CUMULATIVE.

◆ SetClutchDelta()

void chrono::vehicle::ChInteractiveDriver::SetClutchDelta ( double delta )

inline

Set the increment in clutch input for each recorded keypress (default 1/50).

Used only in KeyboardMode::CUMULATIVE.

◆ SetDefaultKeyboardMode()

void chrono::vehicle::ChInteractiveDriver::SetDefaultKeyboardMode ( KeyboardMode mode )

Propose a keyboard mode, to be called by an input backend that knows which modes it can support.

Has no effect if the application already made an explicit call to SetKeyboardMode.

◆ SetGains()

void chrono::vehicle::ChInteractiveDriver::SetGains	(	double	steering_gain = `1`,
		double	throttle_gain = `1`,
		double	braking_gain = `1`,
		double	clutch_gain = `1`
	)

Set gains for internal dynamics (default values are 4.0).

Each input approaches its target exponentially with time constant 1/gain; in KeyboardMode::HELD this also sets how fast a held key ramps an input up or down.

◆ SetKeyboardMode()

void chrono::vehicle::ChInteractiveDriver::SetKeyboardMode ( KeyboardMode mode )

Select the semantics of the keyboard driving controls.

Takes precedence over any default proposed by an input backend (see SetDefaultKeyboardMode).

◆ SetKeyState()

void chrono::vehicle::ChInteractiveDriver::SetKeyState	(	InputKey	key,
		bool	pressed
	)

Report that a driving control key was pressed (true) or released (false).

Used only in KeyboardMode::HELD. Calls are idempotent, so key auto-repeat is harmless.

◆ SetSteeringDelta()

void chrono::vehicle::ChInteractiveDriver::SetSteeringDelta ( double delta )

inline

Set the increment in steering input for each recorded keypress (default 1/50).

Used only in KeyboardMode::CUMULATIVE.

◆ SetThrottleDelta()

void chrono::vehicle::ChInteractiveDriver::SetThrottleDelta ( double delta )

inline

Set the increment in throttle input for each recorded keypress (default 1/50).

Used only in KeyboardMode::CUMULATIVE.

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

/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChInteractiveDriver.h
/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChInteractiveDriver.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ InputKey

◆ InputMode

◆ KeyboardMode

Member Function Documentation

◆ ReleaseAllKeys()

◆ SetBrakingDelta()

◆ SetClutchDelta()

◆ SetDefaultKeyboardMode()

◆ SetGains()

◆ SetKeyboardMode()

◆ SetKeyState()

◆ SetSteeringDelta()

◆ SetThrottleDelta()