Dynamics Example

Note

Example directory: [SimOne installation directory]\SimOneAPI\Tutorial\Dynamics

Algorithm Overview

The Dynamics example calls SimOneAPI to perform standard dynamics tests on the ego vehicle, including full braking, acceleration to a target speed, and sinusoidal steering. It is used to verify the vehicle dynamics response.

Example Code

The following is the complete main.cpp example, demonstrating API initialization and three dynamics test calls:

#include "SimOneServiceAPI.h"
#include "SimOnePNCAPI.h"
#include "SimOneSensorAPI.h"
#include "TestSample.hpp"
#include <string.h>

using namespace std;

int main(int argc, char* argv[])
{
    // Step1: Initialize SimOne API and connect to the local simulation service
    if (SimOneAPI::InitSimOneAPI("0", false, "127.0.0.1"))
    {
        cout << "InitSimOneAPI Done" << endl;
    }

    // Step2: Set the driver name (used to distinguish control sources in multi-vehicle scenarios)
    SimOneAPI::SetDriverName("0", "DynaTest");

    // Optional: specify the output CSV path via command-line argument
    std::string csvPath = "";
    for (int i = 1; i < argc; ++i) {
        if (strcmp(argv[i], "-csvPath") == 0) {
            csvPath = argv[i + 1];
            ++i;
        }
        else {
            csvPath = "resultsALL.csv";
        }
    }

    TestSample test;

    // Step3: Run a dynamics test (uncomment one to enable)

    /* Test 1: Full braking — emergency brake with a braking intensity of 1.0 */
    test.FullBrakeTest("0", 1.0f, csvPath);

    /* Test 2: Accelerate to target speed (100 km/h, throttle intensity 1.0) */
    // test.DriveToSpeed(0, 100.f, 1.0f, csvPath);

    /* Test 3: Sinusoidal steering dynamics test (initial speed 60 km/h) */
    // test.SteerDynamicTest(0, 60.f, TestSample::SteerType::sineSteer, csvPath);

    return 0;
}

Build Environment

CMakeLists.txt supports generating Visual Studio projects for Windows and Makefiles for Ubuntu.

Build:

• Windows:

• Enter the Build directory and run gen_vs_proj_debug.bat or gen_vs_proj_release.bat to generate a Visual Studio project.

• Open the Visual Studio project and build the DynamicsTest project.

• Linux:

• cd Build

• ./gen_make_debug.sh (or ./gen_make_release.sh)

• cd build_debug (or cd build_release)

• make -j4

Usage

1. Start SimOne and create a new use case.

2. Create a new ego vehicle (set the control mode to Manual / API Control).

3. Run the use case (select the ego vehicle).

4. Build the test code; the executable is generated in the bin directory.

5. Run the example program and view the results.