Examples — CLI demo binaries¶

VDSim 의 10 CLI binaries. build/bin/ 에 위치.

Binary	Purpose
`vdsim_bicycle_run`	Single tier (Ld1-Bicycle, Lc4-Pedal) scenario runner
`vdsim_scenario_run`	Scenario YAML → 14-column time-series CSV
`vdsim_l1_vs_l2`	동일 scenario 의 Ld1 vs Ld2 paired CSV
`vdsim_ax_track_demo`	Lc5-AxTarget PID step profile on Ld2
`vdsim_path_tracking`	Lc4 ← Lc5 ← Lc6 ← Lc7 cascade on figure-eight
`vdsim_driver_demo`	DriverModel (latency + Gaussian noise) on Ld2
`vdsim_l3_demo`	Ld3-FourteenDOF transient trace with susp_velocity dump
`vdsim_split_mu_demo`	Open / Locked / LSD differential comparison
`vdsim_l1_vs_l2` (paired)	identical scenario, two dynamics tiers side by side
`vdsim_scenario_run`	flexible scenario runner with time-varying mu

Quick example¶

# Resolve presets via vdsim_lab (catalog-backed), then run a binary:
python3 -c "import sys; sys.path.insert(0,'python'); from vdsim_lab import Vehicle,Tire; \
v,t=Vehicle.preset('sports'),Tire.preset(); print(v.vp,t.tp)"
build/bin/vdsim_path_tracking /tmp/vehicle.yaml /tmp/tire.yaml /tmp/path.csv 8.0

Outputs /tmp/path.csv with t, x, y, yaw, vx, ... columns. Visualize with either:

Python: matplotlib on the CSV.
Browser: load the CSV into the 3D viewer.

Python (pybind11)¶

import sys; sys.path.insert(0, "build/python")
import vdsim

import sys; sys.path.insert(0, "python")
from vdsim_lab import Vehicle, Tire
vp = Vehicle.preset("sedan").vp
tp = Tire.preset().tp
sp = vdsim.SolverParams()

dyn = vdsim.create_seven_dof()
dyn.initialize(vp, tp, sp)

s = vdsim.State(); s.velocity = [10.0, 0.0, 0.0]; dyn.reset(s)
contacts = [vdsim.ContactPoint() for _ in range(4)]
for c in contacts: c.is_valid = True; c.normal = [0,0,1]; c.mu_long = c.mu_lat = 1.0

cmd = vdsim.CmdL4(); cmd.steer_angle_wheel = 0.05
for _ in range(1000): dyn.step(cmd, contacts, 0.005)
print(f"vx_end = {dyn.state().vx():.3f}, r = {dyn.state().yaw_rate():.4f}")

Sweep across parameters¶

python3 python/sweep_runner.py \
    configs/sweeps/aero_vs_vx.yaml \
    /tmp/sweep_out

3 × 3 = 9 cells (aero_drag_coeff × initial_vx) → /tmp/sweep_out/<tag>/ per cell.