Robottools API

API for gathering track information and handling car setups. More...

Collaboration diagram for Robottools API:

Topics
	Robot Telemetry API
	Legacy telemetry wrappers declared in robottools.h.
	Robot Track Tools API
	API to gather information about the track and the cars state relative to the track.
	Robot Setup Tools API
	API to load and store car setups in a unified way, and to support setup changes during pit stops.

Macros
#define	RELAXATION2(target, prev, rate)
	Blend a target with the previous unfiltered input.
#define	RELAXATION(target, prev, rate)
	Smooth a target using the previous filtered result.

Detailed Description

API for gathering track information and handling car setups.

Include robottools.h.

Track coordinates

Global X/Y/Z positions and lateral distances are in meters. A tTrkLocPos contains a borrowed segment pointer and local coordinates: toStart is a distance in meters on a straight but an angle in radians on a curve. toRight increases toward the left, toLeft increases toward the right, and toMiddle is positive to the left of the segment center. TR_TORIGHT, TR_TOLEFT and TR_TOMIDDLE select which lateral field a local-to-global conversion uses; they are distinct from the TR_LPOS_* output modes of global-to-local conversion. Use a main segment as the search seed. Most helpers require valid segment/position pointers and do not clamp off-road positions or advance a local position into the next segment.

Typical robot queries

tdble heading = RtTrackSideTgAngleL(&car->_trkPos);
tdble distance = RtGetDistFromStart(car);  // meters, without completed laps
tdble forward, lateral;
if (RtDistToPit(car, track, &forward, &lateral) == 0) {
    // The car has an assigned pit; both distances are now valid.
}

Setup ownership and units

Setup values and bounds in tCarPitSetup use SI units. Initialize the struct before populating it: missing attributes do not initialize every field. Setup helpers use the Parameter Handling API; handles returned by RtLoadOriginalCarSettings and RtParmReadSetup must be released with GfParmReleaseHandle. Handles passed as master setups are borrowed. See Robot Setup Tools API for saved setup loading and naming, and Robot Track Tools API for geometry queries. The legacy Robot Telemetry API wrappers currently do nothing.

Macro Definition Documentation

RELAXATION

#define RELAXATION	(		target,
			prev,
			rate )

Value:

do {                                \
    target = (prev) + (rate) * ((target) - (prev)) * 0.01;  \
    prev = (target);                        \
} while (0)

Smooth a target using the previous filtered result.

Assigns target = prev + (rate/100) * (target-prev), then copies the result to prev. Initialize prev before use. Use distinct assignable variables without side effects; macro arguments can be evaluated more than once.

Parameters

[in,out]	target	New input on entry, filtered result on exit.
[in,out]	prev	Previous filtered result; receives the new result.
[in]	rate	Percentage weight of the new input, normally 0 through 100; not clamped and independent of the simulation time step.

Definition at line 57 of file robottools.h.

RELAXATION2

#define RELAXATION2	(		target,
			prev,
			rate )

Value:

do {                                \
    tdble __tmp__;                     \
    __tmp__ = target;                       \
    target = (prev) + (rate) * ((target) - (prev)) * 0.01;  \
    prev = __tmp__;                     \
} while (0)

Blend a target with the previous unfiltered input.

Assigns target = prev + (rate/100) * (target-prev), then stores the original target in prev. Use distinct assignable variables, without side effects.

Parameters

[in,out]	target	New input on entry, blended result on exit.
[in,out]	prev	Previous unfiltered input; receives the original target.
[in]	rate	Percentage weight of the new input, normally 0 through 100; not clamped and independent of the simulation time step.

Definition at line 39 of file robottools.h.