Description

Base class for a Chrono checkpoint database.

A Chrono checkpoint DB can be of SYSTEM type (in which case it contains all states associated with a given system) or of COMPONENT tpe (in which case it contains states for specific subsets of Chrono phsics items). The latter option is useful in checkpointing and initializing from a checkpoint sub-assemblies, for example vehicle systems. When importing a checkpoint to initialize a give system (SYSTEM-type checkpoint) or a subset of physics items (COMPONENT-type checkpoint), it is the caller's responsibility to ensure that the target objects (system or component lists) match the number and order in the system from which the checkpoint was generated.

To write a SYSTEM checkpoint file, call:

  WriteState(...);
  WriteFile(...);

To write a COMPONENT checkpoint file, call:

  WriteTime(...);
  WriteBodies(...);
  WriteShafts(...);
  ...
  WriteFile(...);

To read a SYSTEM checkpoint file, call:

  OpenFile(...);
  ReadState(...);

To read a COMPONENT checkpoint file, call:

  OpenFile(...);
  ReadTime(...);
  ReadBodies(...);
  ReadShafts(...);
  ...

#include <ChCheckpoint.h>

Inheritance diagram for chrono::ChCheckpoint:

[legend]

Public Types
enum	Format { Format::ASCII }
	Checkpoint output format. More...

enum	Type { Type::SYSTEM, Type::COMPONENT }
	Checkpoint type. More...

Public Member Functions
virtual void	Initialize ()=0
	Initialize the checkpoint DB.

virtual void	WriteState (ChSystem *sys)=0
	Write the entire state of the provided Chrono system. More...

virtual void	WriteTime (double time)=0
	Write the checkpoint time. More...

virtual void	WriteBodies (const std::vector< std::shared_ptr< ChBody >> &bodies)=0
	Write states of the bodies in the provided list. More...

virtual void	WriteShafts (const std::vector< std::shared_ptr< ChShaft >> &shafts)=0
	Write states of the shafts in the provided list. More...

virtual void	WriteJoints (const std::vector< std::shared_ptr< ChLink >> &joints)=0
	Write states of the joints in the provided list. More...

virtual void	WriteCouples (const std::vector< std::shared_ptr< ChShaftsCouple >> &couples)=0
	Write states of the shaft couples in the provided list. More...

virtual void	WriteLinSprings (const std::vector< std::shared_ptr< ChLinkTSDA >> &springs)=0
	Write states of the linear springs (TSDAs) in the provided list. More...

virtual void	WriteRotSprings (const std::vector< std::shared_ptr< ChLinkRSDA >> &springs)=0
	Write states of the rotational springs (RSDAs) in the provided list. More...

virtual void	WriteBodyBodyLoads (const std::vector< std::shared_ptr< ChLoadBodyBody >> &loads)=0
	Write states of the body-body loads in the provided list. More...

virtual void	WriteLinMotors (const std::vector< std::shared_ptr< ChLinkMotorLinear >> &motors)=0
	Write states of the linear motors in the provided list. More...

virtual void	WriteRotMotors (const std::vector< std::shared_ptr< ChLinkMotorRotation >> &motors)=0
	Write states of the rotational motors in the provided list. More...

virtual void	WriteFile (const std::string &filename)=0
	Write the checkpoint database to a disk file with the specified name.

virtual void	OpenFile (const std::string &filename)=0
	Open the checkpoint database from the disk file with the specified name.

virtual void	ReadState (ChSystem *sys)=0
	Read the system-level state in the input checkpoint database and initialize the given system with that state. More...

virtual void	ReadTime (double &time)=0
	Read the checkpoint time from the input checkpoint database. More...

virtual void	ReadBodies (std::vector< std::shared_ptr< ChBody >> &bodies)=0
	Read body states from the input checkpoint database and set them to the bodies in the provided list. More...

virtual void	ReadShafts (std::vector< std::shared_ptr< ChShaft >> &shafts)=0
	Read shaft states from the input checkpoint database and set them to the shafts in the provided list. More...

virtual void	ReadJoints (std::vector< std::shared_ptr< ChLink >> &joints)=0
	Read joint states from the input checkpoint database and set them to the joints in the provided list. More...

virtual void	ReadCouples (std::vector< std::shared_ptr< ChShaftsCouple >> &couples)=0
	Read couple states from the input checkpoint database and set them to the shaft couples in the provided list. More...

virtual void	ReadLinSprings (std::vector< std::shared_ptr< ChLinkTSDA >> &springs)=0
	Read spring states from the input checkpoint database and set them to the TSDAs in the provided list. More...

virtual void	ReadRotSprings (std::vector< std::shared_ptr< ChLinkRSDA >> &springs)=0
	Read spring states from the input checkpoint database and set them to the RSDAs in the provided list. More...

virtual void	ReadBodyBodyLoads (std::vector< std::shared_ptr< ChLoadBodyBody >> &loads)=0
	Read body-body load states from the input checkpoint database and set them to the loads in the provided list. More...

virtual void	ReadLinMotors (std::vector< std::shared_ptr< ChLinkMotorLinear >> &motors)=0
	Read motor states from the input checkpoint database and set them to the linear motors in the provided list. More...

virtual void	ReadRotMotors (std::vector< std::shared_ptr< ChLinkMotorRotation >> &motors)=0
	Read motor states from the input checkpoint database and set them to the rotational motors in the provided list. More...

Static Public Member Functions
static std::string	GetFormatAsString (Format format)
	Return the provided checkpoint format as a string.

static std::string	GetTypeAsString (Type type)
	Return the provided checkpoint type as a string.

Protected Member Functions
	ChCheckpoint (Type type)

void	CheckIfSystemType () const
	Verify that the checkpoint is of type SYSTEM.

void	CheckIfComponentType () const
	Verify that the checkpoint is of type COMPONENT.

Protected Attributes
Type	m_type
	checkpoint database type

Member Enumeration Documentation

◆ Format

enum chrono::ChCheckpoint::Format

strong

Checkpoint output format.

The only option currently supported is ASCII.

Enumerator
ASCII	ASCII text.

◆ Type

enum chrono::ChCheckpoint::Type

strong

Checkpoint type.

Enumerator
SYSTEM	system state vector
COMPONENT	component-wise states

Member Function Documentation

◆ ReadBodies()

virtual void chrono::ChCheckpoint::ReadBodies ( std::vector< std::shared_ptr< ChBody >> & bodies )

pure virtual

Read body states from the input checkpoint database and set them to the bodies in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadBodyBodyLoads()

virtual void chrono::ChCheckpoint::ReadBodyBodyLoads ( std::vector< std::shared_ptr< ChLoadBodyBody >> & loads )

pure virtual

Read body-body load states from the input checkpoint database and set them to the loads in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadCouples()

virtual void chrono::ChCheckpoint::ReadCouples ( std::vector< std::shared_ptr< ChShaftsCouple >> & couples )

pure virtual

Read couple states from the input checkpoint database and set them to the shaft couples in the provided list.

Only for a COMPONENT type checkpoint DB. Note that this list should only include kinematic shaft couples (i.e., no motors).

Implemented in chrono::ChCheckpointASCII.

◆ ReadJoints()

virtual void chrono::ChCheckpoint::ReadJoints ( std::vector< std::shared_ptr< ChLink >> & joints )

pure virtual

Read joint states from the input checkpoint database and set them to the joints in the provided list.

Only for a COMPONENT type checkpoint DB. Note that this list should only include kinematic joints (i.e., no motors, springs, bushings).

Implemented in chrono::ChCheckpointASCII.

◆ ReadLinMotors()

virtual void chrono::ChCheckpoint::ReadLinMotors ( std::vector< std::shared_ptr< ChLinkMotorLinear >> & motors )

pure virtual

Read motor states from the input checkpoint database and set them to the linear motors in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadLinSprings()

virtual void chrono::ChCheckpoint::ReadLinSprings ( std::vector< std::shared_ptr< ChLinkTSDA >> & springs )

pure virtual

Read spring states from the input checkpoint database and set them to the TSDAs in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadRotMotors()

virtual void chrono::ChCheckpoint::ReadRotMotors ( std::vector< std::shared_ptr< ChLinkMotorRotation >> & motors )

pure virtual

Read motor states from the input checkpoint database and set them to the rotational motors in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadRotSprings()

virtual void chrono::ChCheckpoint::ReadRotSprings ( std::vector< std::shared_ptr< ChLinkRSDA >> & springs )

pure virtual

Read spring states from the input checkpoint database and set them to the RSDAs in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadShafts()

virtual void chrono::ChCheckpoint::ReadShafts ( std::vector< std::shared_ptr< ChShaft >> & shafts )

pure virtual

Read shaft states from the input checkpoint database and set them to the shafts in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadState()

virtual void chrono::ChCheckpoint::ReadState ( ChSystem * sys )

pure virtual

Read the system-level state in the input checkpoint database and initialize the given system with that state.

Only for a SYSTEM type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ ReadTime()

virtual void chrono::ChCheckpoint::ReadTime ( double & time )

pure virtual

Read the checkpoint time from the input checkpoint database.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteBodies()

virtual void chrono::ChCheckpoint::WriteBodies ( const std::vector< std::shared_ptr< ChBody >> & bodies )

pure virtual

Write states of the bodies in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteBodyBodyLoads()

virtual void chrono::ChCheckpoint::WriteBodyBodyLoads ( const std::vector< std::shared_ptr< ChLoadBodyBody >> & loads )

pure virtual

Write states of the body-body loads in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteCouples()

virtual void chrono::ChCheckpoint::WriteCouples ( const std::vector< std::shared_ptr< ChShaftsCouple >> & couples )

pure virtual

Write states of the shaft couples in the provided list.

Only for a COMPONENT type checkpoint DB. Note that this list should only include kinematic shaft couples (i.e., no motors).

Implemented in chrono::ChCheckpointASCII.

◆ WriteJoints()

virtual void chrono::ChCheckpoint::WriteJoints ( const std::vector< std::shared_ptr< ChLink >> & joints )

pure virtual

Write states of the joints in the provided list.

Only for a COMPONENT type checkpoint DB. Note that this list should only include kinematic joints (i.e., no motors, springs, bushings).

Implemented in chrono::ChCheckpointASCII.

◆ WriteLinMotors()

virtual void chrono::ChCheckpoint::WriteLinMotors ( const std::vector< std::shared_ptr< ChLinkMotorLinear >> & motors )

pure virtual

Write states of the linear motors in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteLinSprings()

virtual void chrono::ChCheckpoint::WriteLinSprings ( const std::vector< std::shared_ptr< ChLinkTSDA >> & springs )

pure virtual

Write states of the linear springs (TSDAs) in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteRotMotors()

virtual void chrono::ChCheckpoint::WriteRotMotors ( const std::vector< std::shared_ptr< ChLinkMotorRotation >> & motors )

pure virtual

Write states of the rotational motors in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteRotSprings()

virtual void chrono::ChCheckpoint::WriteRotSprings ( const std::vector< std::shared_ptr< ChLinkRSDA >> & springs )

pure virtual

Write states of the rotational springs (RSDAs) in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteShafts()

virtual void chrono::ChCheckpoint::WriteShafts ( const std::vector< std::shared_ptr< ChShaft >> & shafts )

pure virtual

Write states of the shafts in the provided list.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteState()

virtual void chrono::ChCheckpoint::WriteState ( ChSystem * sys )

pure virtual

Write the entire state of the provided Chrono system.

Only for a SYSTEM type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

◆ WriteTime()

virtual void chrono::ChCheckpoint::WriteTime ( double time )

pure virtual

Write the checkpoint time.

Only for a COMPONENT type checkpoint DB.

Implemented in chrono::ChCheckpointASCII.

The documentation for this class was generated from the following file:

/builds/uwsbel/chrono/src/chrono/output/ChCheckpoint.h

Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ Format

◆ Type

Member Function Documentation

◆ ReadBodies()

◆ ReadBodyBodyLoads()

◆ ReadCouples()

◆ ReadJoints()

◆ ReadLinMotors()

◆ ReadLinSprings()

◆ ReadRotMotors()

◆ ReadRotSprings()

◆ ReadShafts()

◆ ReadState()

◆ ReadTime()

◆ WriteBodies()

◆ WriteBodyBodyLoads()

◆ WriteCouples()

◆ WriteJoints()

◆ WriteLinMotors()

◆ WriteLinSprings()

◆ WriteRotMotors()

◆ WriteRotSprings()

◆ WriteShafts()

◆ WriteState()

◆ WriteTime()