chrono::vehicle::ChDriver Class Reference

Description

Base class for a vehicle driver system.

A driver system must be able to report the current values of the inputs (throttle, steering, braking). A concrete driver class must set the member variables m_throttle, m_steering, and m_braking.

#include <ChDriver.h>

Inheritance diagram for chrono::vehicle::ChDriver:
Collaboration diagram for chrono::vehicle::ChDriver:

Public Member Functions

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])

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

virtual void Initialize ()
Initialize this driver system.

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

Advance the state of this driver system by the specified time step.

Initialize output file for recording driver inputs.

bool Log (double time)
Record the current driver inputs to the log file.

void SetSteering (double val, double min_val=-1, double max_val=1)
Overwrite the value for the driver steering input.

void SetThrottle (double val, double min_val=0, double max_val=1)
Overwrite the value for the driver throttle input.

void SetBraking (double val, double min_val=0, double max_val=1)
Overwrite the value for the driver braking input.

Protected Attributes

ChVehiclem_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

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