多物理场仿真 Chrono(3.8) 转速表感器模型

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在Chrono::Sensor::ChTachometerSensor中，通过查询母体的角速度生成合成数据。

创建转速表

auto tachometer = chrono_types::make_shared<ChTachometerSensor>(
                        parent_body,        // body sensor is attached to
                        update_rate,        // measurement rate in Hz
                        offset_pose,        // offset pose of sensor
                        axis,               // axis of rotation to take measurements
)
 
tachometer->SetName("Tachometer Sensor");
tachometer->SetLag(lag);
tachometer->SetCollectionWindow(collection_time); 

转速表滤波器图

// Access tachometer data in raw format (angular velocity)
tachometer->PushFilter(chrono_types::make_shared<ChFitlerTachometerAccess>());
 
// Add sensor to manager
manager->AddSensor(tachometer);

转速表数据访问

UserTachometerBufferPtr data_ptr;
while(){
    data_ptr = tachometer->GetMostRecentBuffer<UserTachometerBufferPtr>();
    if (data_ptr->Buffer){
        // Retrieve and print the angular velocity
        angular_vel = data_ptr->Buffer[0];
        std::cout<<"Angular  velocity: <<angular_vel<<std::endl;
    }
}