Project Chrono: chrono::vehicle::ChSuspensionTestRigDataDriver Class Reference

Public Member Functions | List of all members
chrono::vehicle::ChSuspensionTestRigDataDriver Class Reference
VEHICLE module » Wheeled vehicles » Suspension test rig classes

## Description

Driver inputs for a suspension test rig 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:

      time | steering | left_post0 right_post0 | left_post1 right_post1 | ...

It is assumed that the time values are unique. Inputs for post_left, post_right, and steering are assumed to be normalized in the range [-1,1]. Driver inputs at intermediate times are obtained through cubic spline interpolation.

`#include <ChSuspensionTestRigDataDriver.h>`

Inheritance diagram for chrono::vehicle::ChSuspensionTestRigDataDriver:
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Collaboration diagram for chrono::vehicle::ChSuspensionTestRigDataDriver:
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## Public Member Functions
| ChSuspensionTestRigDataDriver (const std::string &filename)
| Construct using data from the specified file.
virtual bool | Ended () const override
| Return true when driver stopped producing inputs (end of data).
Public Member Functions inherited from chrono::vehicle::ChSuspensionTestRigDriver
double | GetSteering () const
| Get the driver steering input (in the range [-1,+1]).
const std::vector< double > & | GetDisplacementLeft () const
| Get the left post vertical displacement inputs (each in the range [-1,+1]).
const std::vector< double > & | GetDisplacementRight () const
| Get the right post vertical displacement inputs (each in the range [-1,+1]).
const std::vector< double > & | GetDisplacementSpeedLeft () const
| Get the left post displacement rates of change.
const std::vector< double > & | GetDisplacementSpeedRight () const
| Get the right post displacement rates of change.
bool | Started () const
| Return false while driver inputs are ignored (while the rig is reaching the ride height configuration) and true otherwise.
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.

## Additional Inherited Members
Protected Member Functions inherited from chrono::vehicle::ChSuspensionTestRigDriver
void | SetDisplacementLeft (int axle, double val, double min_val=-1, double max_val=1)
| Set the value for the driver left post displacement input.
void | SetDisplacementRight (int axle, double val, double min_val=-1, double max_val=1)
| Set the value for the driver right post displacement input.
void | SetSteering (double val, double min_val=-1, double max_val=1)
| Set the value for the driver steering input.
Protected Attributes inherited from chrono::vehicle::ChSuspensionTestRigDriver
int | m_naxles
| number of actuated axles
std::vector< double > | m_displLeft
| current value of left post displacements
std::vector< double > | m_displRight
| current value of right post displacements
std::vector< double > | m_displSpeedLeft
| current value of left post displacement rates of change
std::vector< double > | m_displSpeedRight
| current value of right post displacement rates of change
double | m_steering
| current value of steering input
double | m_delay
| time delay before generating inputs

## Member Function Documentation

## ◆ Ended()

bool chrono::vehicle::ChSuspensionTestRigDataDriver::Ended | ( |  | ) | const
| overridevirtual

Return true when driver stopped producing inputs (end of data).

Reimplemented from chrono::vehicle::ChSuspensionTestRigDriver.

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

- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRigDataDriver.h
- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRigDataDriver.cpp