:mod:`wa_simulator.chrono.controller`
=====================================

.. py:module:: wa_simulator.chrono.controller

.. Module Contents
.. ---------------


.. raw:: html

   <h2>Classes</h2>

.. autoapisummary::
  :nosignatures:

  wa_simulator.chrono.controller.WAIrrlichtController

.. py:class:: WAIrrlichtController(system, vehicle_inputs, visualization)

   Bases: :class:`wa_simulator.controller.WAController`

   Wrapper for a ChIrrGuiDriver.

   Uses the keyboard in the irrlicht window to control the car. Window must be active
   to work. Currently not supported on Mac when the anaconda build is used

   :Parameters: * **system** (*WASystem*) -- The system used to manage the simulation
                * **vehicle_inputs** (*WAVehicleInputs*) -- The vehicle inputs
                * **visualization** (*WAIrrlichtVisualization*) -- the irrlicht visualization

   .. method:: synchronize(self, time)

      Synchronize the irrlicht driver at the specified time

      :Parameters: **time** (*double*) -- time to synchronize at


   .. method:: advance(self, step)

      Advance the irrlicht driver by the specified step

      :Parameters: **step** (*double*) -- step to advance by


   .. method:: get_inputs(self)

      Get the vehicle inputs

      Overrides base class method. Converts a veh.DriverInputs to a WAVehicleInputs

      :returns: The input class







.. .. .. autoapi-nested-parse::
..
..    Wisconsin Autonomous - https://wa.wisc.edu

   Copyright (c) 2021 wa.wisc.edu
   All rights reserved.

   Use of this source code is governed by a BSD-style license that can be found
   in the LICENSE file at the top level of the repo

..
..