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21ab839 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | from ocd_vehicle_models_py import VehicleFactory
from ocd_vehicle_models_py import (
DrivetrainType,
SteeringActuatorType,
VehicleDynamicsType,
TireType,
AerodynamicsType,
)
veh = VehicleFactory.create_vehicle(
drivetrain=DrivetrainType.RWD_LSD,
steering=SteeringActuatorType.PT1,
vdm=VehicleDynamicsType.DOUBLE_TRACK,
tire=TireType.MF52,
aero=AerodynamicsType.DEFAULT,
)
driver_input = veh.construct_drivetrain_input() # Get the correct input struct for the drivetrain model
external_influences = veh.construct_external_influences() # Get the correct input struct for external influences (e.g. road slope, wind, etc.) - this is optional and can be left at default values if not needed
steering_input = veh.construct_steering_input() # Get the correct input struct for the steering model - this is optional and can be left at default values if not needed
# Load params
# --------------------
# Get the params for your model or alternatively load them from a json file
param_dict = veh.get_param_manager().get_parameters_as_dict()
# You can modify the param dict as needed, for example:
# param_dict["some_param"] = new_value
# Then set the modified dict back to the param manager
veh.get_param_manager().set_parameters_from_dict(param_dict)
# Modify the inputs as needed
# ----------
# ....
# ----------
# Set the inputs
veh.set_drivetrain_input(driver_input)
veh.set_external_influences(external_influences)
veh.set_steering_input(steering_input)
# Once all the inputs have been set, call step() to run the simulation for one time step
veh.step()
# Repeat this loop as many times as needed, modifying the inputs and calling step() to advance the simulation
# Get the outputs
drivetrain_feedback = veh.get_drivetrain_feedback()
steering_actuator_feedback = veh.get_steering_actuator_feedback()
vehicle_model_output = veh.get_vehicle_model_output()
# Get the internal log signals for the model as dictionary
log_signals = veh.get_logger().get_data() |