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 physics 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 extract a checkpoint and write a SYSTEM checkpoint file, call:

  cp.Save(sys);
  cp.WriteFile(filename);

To write a COMPONENT checkpoint file, call:

  cp.Save(time, components);
  cp.WriteFile(filename);

To read a SYSTEM checkpoint file and apply the checkpoint to a system, call:

  cp.ReadFile(filename);
  cp.Load(sys);

To read a COMPONENT checkpoint file, call:

  cp.ReadFile(filename);
  cp.Load(time, components);
  ...

#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.

void	SetTime (double time)

double	GetTime () const

void	Save (ChSystem *sys)

void	Save (double time, const ChAssembly::Components &components)

void	Save (const ChAssembly::Components &components)

void	Load (ChSystem *sys)

void	Load (double &time, ChAssembly::Components &components)

void	Load (ChAssembly::Components &components)

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

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

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.

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

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

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

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

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

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

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

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

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

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

virtual void	SaveDouble (double value)=0
	Save the specified double value. More...

virtual void	SaveInteger (int value)=0
	Save the specified integer value. More...

virtual void	SaveVector (const std::vector< double > &vector)=0
	Save the components of the specified vector of doubles. More...

virtual void	SaveChVector3 (const ChVector3d &vector)=0
	Save the components of the specified 3D vector (with double values). More...

virtual void	SaveChQuaternion (const ChQuaterniond &quat)=0
	Save the components of the specified quaternion (with double values). More...

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

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

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

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

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

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

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

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

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

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

virtual void	LoadDouble (double &value)=0
	Load a double value and set it to the provided variable. More...

virtual void	LoadInteger (int &value)=0
	Load an integer value and set it to the provided variable. More...

virtual void	LoadVector (std::vector< double > &vector)=0
	Load a sequence of double values and load them in the provided vector. More...

virtual void	LoadChVector3 (ChVector3d &vector)=0
	Load components of a 3D vector from the input checkpoint database and set them to the provided vector. More...

virtual void	LoadChQuaternion (ChQuaterniond &quat)=0
	Load components of a quaternion from the input checkpoint database and set them to the provided ChQuaternion. More...

Protected Attributes
Type	m_type
	checkpoint database type

double	m_time
	time stamp of the checkpoint

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

◆ LoadBodies()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ LoadBodyBodyLoads()

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

protectedpure virtual

Load 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.

◆ LoadChQuaternion()

virtual void chrono::ChCheckpoint::LoadChQuaternion ( ChQuaterniond & quat )

protectedpure virtual

Load components of a quaternion from the input checkpoint database and set them to the provided ChQuaternion.

Only for a COMPONENT type checkpoint DB.

◆ LoadChVector3()

virtual void chrono::ChCheckpoint::LoadChVector3 ( ChVector3d & vector )

protectedpure virtual

Load components of a 3D vector from the input checkpoint database and set them to the provided vector.

Only for a COMPONENT type checkpoint DB.

◆ LoadCouples()

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

protectedpure virtual

Load 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).

◆ LoadDouble()

virtual void chrono::ChCheckpoint::LoadDouble ( double & value )

protectedpure virtual

Load a double value and set it to the provided variable.

Only for a COMPONENT type checkpoint DB.

◆ LoadInteger()

virtual void chrono::ChCheckpoint::LoadInteger ( int & value )

protectedpure virtual

Load an integer value and set it to the provided variable.

Only for a COMPONENT type checkpoint DB.

◆ LoadJoints()

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

protectedpure virtual

Load 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).

◆ LoadLinMotors()

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

protectedpure virtual

Load 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.

◆ LoadLinSprings()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ LoadRotMotors()

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

protectedpure virtual

Load 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.

◆ LoadRotSprings()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ LoadShafts()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ LoadState()

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

protectedpure virtual

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

Only for a SYSTEM type checkpoint DB.

◆ LoadVector()

virtual void chrono::ChCheckpoint::LoadVector ( std::vector< double > & vector )

protectedpure virtual

Load a sequence of double values and load them in the provided vector.

Only for a COMPONENT type checkpoint DB.

◆ SaveBodies()

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

protectedpure virtual

Save states of the bodies in the provided list.

Only for a COMPONENT type checkpoint DB.

◆ SaveBodyBodyLoads()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ SaveChQuaternion()

virtual void chrono::ChCheckpoint::SaveChQuaternion ( const ChQuaterniond & quat )

protectedpure virtual

Save the components of the specified quaternion (with double values).

Only for a COMPONENT type checkpoint DB.

◆ SaveChVector3()

virtual void chrono::ChCheckpoint::SaveChVector3 ( const ChVector3d & vector )

protectedpure virtual

Save the components of the specified 3D vector (with double values).

Only for a COMPONENT type checkpoint DB.

◆ SaveCouples()

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

protectedpure virtual

Save 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).

◆ SaveDouble()

virtual void chrono::ChCheckpoint::SaveDouble ( double value )

protectedpure virtual

Save the specified double value.

Only for a COMPONENT type checkpoint DB.

◆ SaveInteger()

virtual void chrono::ChCheckpoint::SaveInteger ( int value )

protectedpure virtual

Save the specified integer value.

Only for a COMPONENT type checkpoint DB.

◆ SaveJoints()

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

protectedpure virtual

Save 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).

◆ SaveLinMotors()

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

protectedpure virtual

Save states of the linear motors in the provided list.

Only for a COMPONENT type checkpoint DB.

◆ SaveLinSprings()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ SaveRotMotors()

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

protectedpure virtual

Save states of the rotational motors in the provided list.

Only for a COMPONENT type checkpoint DB.

◆ SaveRotSprings()

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

protectedpure virtual

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

Only for a COMPONENT type checkpoint DB.

◆ SaveShafts()

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

protectedpure virtual

Save states of the shafts in the provided list.

Only for a COMPONENT type checkpoint DB.

◆ SaveState()

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

protectedpure virtual

Save the entire state of the provided Chrono system.

Only for a SYSTEM type checkpoint DB.

◆ SaveVector()

virtual void chrono::ChCheckpoint::SaveVector ( const std::vector< double > & vector )

protectedpure virtual

Save the components of the specified vector of doubles.

Only for a COMPONENT type checkpoint DB.

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

/builds/uwsbel/chrono/src/chrono/input_output/ChCheckpoint.h
/builds/uwsbel/chrono/src/chrono/input_output/ChCheckpoint.cpp

Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ Format

◆ Type

Member Function Documentation

◆ LoadBodies()

◆ LoadBodyBodyLoads()

◆ LoadChQuaternion()

◆ LoadChVector3()

◆ LoadCouples()

◆ LoadDouble()

◆ LoadInteger()

◆ LoadJoints()

◆ LoadLinMotors()

◆ LoadLinSprings()

◆ LoadRotMotors()

◆ LoadRotSprings()

◆ LoadShafts()

◆ LoadState()

◆ LoadVector()

◆ SaveBodies()

◆ SaveBodyBodyLoads()

◆ SaveChQuaternion()

◆ SaveChVector3()

◆ SaveCouples()

◆ SaveDouble()

◆ SaveInteger()

◆ SaveJoints()

◆ SaveLinMotors()

◆ SaveLinSprings()

◆ SaveRotMotors()

◆ SaveRotSprings()

◆ SaveShafts()

◆ SaveState()

◆ SaveVector()