wa_simulator.chrono.controller

Classes

WAIrrlichtController

Wrapper for a ChIrrGuiDriver.
class WAIrrlichtController(system, vehicle_inputs, visualization)[source]

Bases: 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

synchronize(self, time)[source]

Synchronize the irrlicht driver at the specified time

Parameters

time (double) – time to synchronize at

advance(self, step)[source]

Advance the irrlicht driver by the specified step

Parameters

step (double) – step to advance by

get_inputs(self)[source]

Get the vehicle inputs

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

Returns

The input class