Description

Base class for a track test rig driver system.

A driver system must be able to report the current values of the inputs (throttle and post displacements).

#include <ChTrackTestRigDriver.h>

Inheritance diagram for chrono::vehicle::ChTrackTestRigDriver:

Public Member Functions

double GetDisplacement (int index) const
 Get the specified post vertical displacement (in the range [-1,+1])
 
double GetDisplacementSpeed (int index) const
 Get the specified post vertical displacement rate of change.
 
double GetThrottle () const
 Get the driver throttle input (in the range [-1,+1])
 
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.
 

Protected Member Functions

void SetDisplacement (int index, double val, double min_val=-1, double max_val=1)
 Overwrite the value for the specified post displacement input.
 
void SetThrottle (double val, double min_val=-1, double max_val=1)
 Overwrite the value for the throttle input.
 
virtual void Initialize (size_t num_posts, const std::vector< double > &locations)
 Initialize this driver system.
 
virtual void Synchronize (double time)
 Update the state of this driver system at the current time.
 
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 SetTimeDelay (double delay)
 Set value of the time delay. More...
 
virtual std::string GetInfoMessage () const
 Get string message.
 

Protected Attributes

std::vector< double > m_displ
 current values of post displacements
 
std::vector< double > m_displSpeed
 current value of post displacement rates of change
 
double m_throttle
 current value of throttle input
 
double m_delay
 time delay before generating inputs
 
std::vector< double > m_locations
 post locations in X direction
 

Friends

class ChTrackTestRig
 

Member Function Documentation

◆ SetTimeDelay()

void chrono::vehicle::ChTrackTestRigDriver::SetTimeDelay ( double  delay)
inlineprotected

Set value of the time delay.

During this initial time period, no driver inputs are generated.

◆ Started()

bool chrono::vehicle::ChTrackTestRigDriver::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/tracked_vehicle/test_rig/ChTrackTestRigDriver.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/test_rig/ChTrackTestRigDriver.cpp