Description

Irrlicht-based interactive driver for the a vehicle.

This class implements the functionality required by the base ChInteractiveDriver class using keyboard or joystick inputs. As an Irrlicht event receiver, its OnEvent() callback is used to keep track and update the current driver inputs.

#include <ChInteractiveDriverIRR.h>

Inheritance diagram for chrono::vehicle::ChInteractiveDriverIRR:

[legend]

Collaboration diagram for chrono::vehicle::ChInteractiveDriverIRR:

[legend]

Public Member Functions
	ChInteractiveDriverIRR (ChVehicleVisualSystemIrrlicht &vsys)
	Construct an Irrlicht GUI driver.

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

virtual void	Initialize () override
	Initialize this driver system.

void	SetJoystickConfigFile (const std::string &filename)
	Set joystick JSON configuration file name.

void	SetJoystickDebug (bool val)
	Enable/disable joystick debugging output (default: false).

void	SetButtonCallback (int button, void(*cbfun)())
	Feed button number and callback function to implement a custom callback.

Public Member Functions inherited from chrono::vehicle::ChInteractiveDriver
	ChInteractiveDriver (ChVehicle &vehicle)
	Construct an interactive driver.

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.

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

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

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

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

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

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. More...

void	SetInputDataFile (const std::string &filename)
	Set the input file for the underlying data driver.

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.

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
Public Types inherited from chrono::vehicle::ChInteractiveDriver
enum	InputMode { InputMode::LOCK, InputMode::KEYBOARD, InputMode::DATAFILE, InputMode::JOYSTICK }
	Functioning modes for a ChInteractiveDriver. More...

Protected Attributes inherited from chrono::vehicle::ChInteractiveDriver
InputMode	m_mode
	current mode of the driver

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

double	m_time_shift
	time at which mode was switched to DATAFILE

std::shared_ptr< ChDataDriver >	m_data_driver
	embedded data driver (for playback)

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

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

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

Description

Public Member Functions

Additional Inherited Members