chrono::vehicle::ChDataDriver Class Reference

Description

Driver inputs from data file.

A driver model based on user inputs provided as time series. If provided as a text file, each line in the file must contain 4 values: time steering throttle braking clutch It is assumed that the time values are unique. If the time values are not sorted, this must be specified at construction. Driver inputs at intermediate times are obtained through linear interpolation.

#include <ChDataDriver.h>

Inheritance diagram for chrono::vehicle::ChDataDriver:

Collaboration diagram for chrono::vehicle::ChDataDriver:

Classes
struct	Entry
	Definition of driver inputs at a given time. More...

Public Member Functions
	ChDataDriver (ChVehicle &vehicle, const std::string &filename, bool sorted=true)
	Construct using data from the specified file. More...
	ChDataDriver (ChVehicle &vehicle, const std::vector< Entry > &data, bool sorted=true)
	Construct using data from the specified data entries. More...
virtual void	Synchronize (double time) override
	Update the driver system at the specified time. More...
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.
virtual void	Advance (double step)
	Advance the state of this driver system by the specified time step.
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]).

Additional Inherited Members
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

Constructor & Destructor Documentation

ChDataDriver() [1/2]

chrono::vehicle::ChDataDriver::ChDataDriver	(	ChVehicle &	vehicle,
		const std::string &	filename,
		bool	sorted = true
	)

Construct using data from the specified file.

Parameters

vehicle	associated vehicle
filename	name of data file
sorted	indicate whether entries are sorted by time stamps

ChDataDriver() [2/2]

chrono::vehicle::ChDataDriver::ChDataDriver	(	ChVehicle &	vehicle,
		const std::vector< Entry > &	data,
		bool	sorted = true
	)

Construct using data from the specified data entries.

Parameters

vehicle	associated vehicle
data	vector of data entries
sorted	indicate whether entries are sorted by time stamps

Member Function Documentation

Synchronize()

void chrono::vehicle::ChDataDriver::Synchronize ( double  time )

overridevirtual

Update the driver system at the specified time.

The driver inputs are obtained through linear interpolation between the provided data points.

Reimplemented from chrono::vehicle::ChDriver.

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

• /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChDataDriver.h
• /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChDataDriver.cpp