chrono::ChExternalFmu Class Reference

Description

Chrono physics item that wraps a model exchange FMU.

This class allows importing the underlying model in the associated FMU and encapsulate it into a ChExternalDynamics physics item which can be added to a Chrono system. The dynamics of the model exchange FMU are integrated at the same time as the Chrono system and its states can be coupled to other components in the system.

#include <ChExternalFmu.h>

Inheritance diagram for chrono::ChExternalFmu:
Collaboration diagram for chrono::ChExternalFmu:

Public Member Functions

 ChExternalFmu (const std::string &instance_name, const std::string &fmu_filename, const std::string &unpack_dir="", bool logging=false, const std::string &resources_dir="")
 Load and instantiate the FMU with given name and wrap it as a Chrono physics item. More...
 
void SetDebugLogging (bool logging, const std::vector< std::string > &log_categories)
 Set FMU debug logging.
 
void SetInitialCondition (const std::string &name, double value)
 Set the initial value for an FMU state. More...
 
void SetRealParameterValue (const std::string &name, double value)
 Set the value of a real parameter. More...
 
void SetIntParameterValue (const std::string &name, int value)
 Set the value of an integer parameter. More...
 
void SetRealInputFunction (const std::string &name, std::function< double(double)> function)
 Set a continuous input function. More...
 
virtual void Initialize () override
 Initialize this physics item. More...
 
virtual unsigned int GetNumStates () const override
 Get number of states.
 
std::unordered_set< std::string > GetStatesList () const
 Get a list of all real states among the FMU variables. More...
 
std::unordered_set< std::string > GetRealParametersList () const
 Get a list of all real "parameters" among the FMU variables. More...
 
std::unordered_set< std::string > GetIntParametersList () const
 Get a list of all integer "parameters" among the FMU variables. More...
 
std::unordered_set< std::string > GetRealInputsList () const
 Get a list of all continuous real "inputs" among the FMU variables. More...
 
void PrintFmuVariables () const
 Print the list of FMU variables.
 
- Public Member Functions inherited from chrono::ChExternalDynamics
virtual ChExternalDynamicsClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual bool IsStiff () const
 Declare as stiff (default: false). More...
 
ChVectorDynamic GetInitialStates ()
 Get the initial values (state at initial time).
 
const ChVectorDynamicGetStates () const
 Get current states.
 
const ChVectorDynamicGetRHS () const
 Get current RHS.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem().
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem(). More...
 
void AddVisualModel (std::shared_ptr< ChVisualModel > model)
 Add an (optional) visualization model. More...
 
std::shared_ptr< ChVisualModelGetVisualModel () const
 Access the visualization model (if any). More...
 
void AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
 Add the specified visual shape to the visualization model. More...
 
std::shared_ptr< ChVisualShapeGetVisualShape (unsigned int i) const
 Access the specified visualization shape in the visualization model (if any). More...
 
void AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
 Add the specified FEA visualization object to the visualization model. More...
 
std::shared_ptr< ChVisualShapeFEAGetVisualShapeFEA (unsigned int i) const
 Access the specified FEA visualization object in the visualization model (if any). More...
 
virtual ChFrame GetVisualModelFrame (unsigned int nclone=0) const
 Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...
 
virtual unsigned int GetNumVisualModelClones () const
 Return the number of clones of the visual model associated with this physics item. More...
 
void AddCamera (std::shared_ptr< ChCamera > camera)
 Attach a ChCamera to this physical item. More...
 
std::vector< std::shared_ptr< ChCamera > > GetCameras () const
 Get the set of cameras attached to this physics item.
 
virtual bool IsActive () const
 Return true if the object is active and included in dynamics.
 
virtual bool IsCollisionEnabled () const
 Tell if the object is subject to collision. More...
 
virtual void AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
 Add to the provided collision system any collision models managed by this physics item. More...
 
virtual void RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
 Remove from the provided collision system any collision models managed by this physics item. More...
 
virtual void SyncCollisionModels ()
 Synchronize the position and bounding box of any collsion models managed by this physics item.
 
virtual ChAABB GetTotalAABB () const
 Get the axis-aligned bounding box (AABB) of this object. More...
 
virtual ChVector3d GetCenter () const
 Get a symbolic 'center' of the object. More...
 
virtual void Setup ()
 Perform setup operations. More...
 
virtual void Update (bool update_assets=true)
 Perform an update using the current time.
 
void UpdateVisualModel ()
 Utility function to update only the associated visual assets (if any).
 
virtual void ForceToRest ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual unsigned int GetNumCoordsVelLevel ()
 Get the number of coordinates at the velocity level. More...
 
virtual unsigned int GetNumConstraints ()
 Get the number of scalar constraints.
 
virtual unsigned int GetNumConstraintsBilateral ()
 Get the number of bilateral scalar constraints.
 
virtual unsigned int GetNumConstraintsUnilateral ()
 Get the number of unilateral scalar constraints.
 
unsigned int GetOffset_x ()
 Get offset in the state vector (position part)
 
unsigned int GetOffset_w ()
 Get offset in the state vector (speed part)
 
unsigned int GetOffset_L ()
 Get offset in the lagrangian multipliers.
 
void SetOffset_x (const unsigned int moff)
 Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_w (const unsigned int moff)
 Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_L (const unsigned int moff)
 Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.
 
virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
 From global reaction vector to item's reaction forces. More...
 
virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
 Computes x_new = x + Dt , using vectors at specified offsets. More...
 
virtual void IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
 Computes Dt = x_new - x, using vectors at specified offsets. More...
 
virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
 Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More...
 
virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
 Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...
 
virtual void IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
 Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...
 
virtual void InjectConstraints (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChConstraint objects associated with this item.
 
virtual void LoadConstraintJacobians ()
 Compute and load current Jacobians in encapsulated ChConstraint objects.
 
virtual void ConstraintsBiReset ()
 Sets to zero the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
 Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Ct (double factor=1)
 Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Qc (double factor=1)
 Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsFetch_react (double factor=1)
 Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...
 
virtual void ArchiveOut (ChArchiveOut &archive_out) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in) override
 Method to allow deserialization of transient data from archives. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Get the unique integer identifier of this object. More...
 
void SetTag (int tag)
 Set an object integer tag (default: -1). More...
 
int GetTag () const
 Get the tag of this object.
 
void SetName (const std::string &myname)
 Set the name of this object.
 
const std::string & GetName () const
 Get the name of this object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
virtual std::string & ArchiveContainerName ()
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::ChExternalDynamics
virtual bool CalculateJac (double time, const ChVectorDynamic<> &y, const ChVectorDynamic<> &rhs, ChMatrixDynamic<> &J)
 Calculate the Jacobian of the ODE right-hand side with respect to the ODE states. More...
 
virtual unsigned int GetNumCoordsPosLevel () override
 Get the number of coordinates at the position level. More...
 
ChVariablesVariables ()
 
virtual void InjectVariables (ChSystemDescriptor &descriptor) override
 Register with the given system descriptor any ChVariable objects associated with this item.
 
virtual void InjectKRMMatrices (ChSystemDescriptor &descriptor) override
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
 From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...
 
virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) override
 From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...
 
virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
 From item's state acceleration to global acceleration vector. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
 From global acceleration vector to item's state acceleration. More...
 
virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
 Takes the F force term, scale and adds to R at given offset: R += c*F. More...
 
virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &v, const double c) override
 Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More...
 
virtual void IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override
 Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...
 
virtual void IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
 Prepare variables and constraints to accommodate a solution: More...
 
virtual void IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
 After a solver solution, fetch values from variables and constraints into vectors: More...
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
virtual void VariablesFbReset () override
 Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
 
virtual void VariablesFbLoadForces (double factor=1) override
 Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
 
virtual void VariablesQbLoadSpeed () override
 Initialize the 'qb' part of the ChVariables with the current value of speeds. More...
 
virtual void VariablesQbSetSpeed (double step=0) override
 Fetches the item speed (ex. More...
 
virtual void VariablesFbIncrementMq () override
 Adds M*q (masses multiplied current 'qb') to Fb, ex. More...
 
virtual void VariablesQbIncrementPosition (double step) override
 Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...
 
virtual void ConstraintsFbLoadForces (double factor=1) override
 Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.
 
void ComputeJac (double time)
 Compute the Jacobian at the current time and state.
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_model_instance
 instantiated visualization model
 
std::vector< std::shared_ptr< ChCamera > > cameras
 set of cameras
 
unsigned int offset_x
 offset in vector of state (position part)
 
unsigned int offset_w
 offset in vector of state (speed part)
 
unsigned int offset_L
 offset in vector of lagrangian multipliers
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 object simulation time
 
std::string m_name
 object name
 
int m_identifier
 object unique identifier
 
int m_tag
 user-supplied tag
 

Constructor & Destructor Documentation

◆ ChExternalFmu()

chrono::ChExternalFmu::ChExternalFmu ( const std::string &  instance_name,
const std::string &  fmu_filename,
const std::string &  unpack_dir = "",
bool  logging = false,
const std::string &  resources_dir = "" 
)

Load and instantiate the FMU with given name and wrap it as a Chrono physics item.

If an empty unpack_dir name is specified, the FMU archive is extracted in a temporary directory. If an empty resources_dir name is specified, the directory in the FMU file is used (if any).

Parameters
instance_namename of the FMU instance
fmu_filenamename of the FMU file
unpack_dirunpack directory
loggingenable FMU logging
resources_dirlocation of FMU resources

Member Function Documentation

◆ GetIntParametersList()

std::unordered_set< std::string > chrono::ChExternalFmu::GetIntParametersList ( ) const

Get a list of all integer "parameters" among the FMU variables.

These are variables of type="Integer", with variability!="constant" that have initial="exact" or causality="input" and are not state variables. The value of such parameters can be set by calling SetIntParameterValue().

◆ GetRealInputsList()

std::unordered_set< std::string > chrono::ChExternalFmu::GetRealInputsList ( ) const

Get a list of all continuous real "inputs" among the FMU variables.

These are variables of type="Integer", with causality="input" and variability="continuous".

◆ GetRealParametersList()

std::unordered_set< std::string > chrono::ChExternalFmu::GetRealParametersList ( ) const

Get a list of all real "parameters" among the FMU variables.

These are variables of type="Real", with variability!="constant" that have initial="exact" or causality="input" and are not state variables. The value of such parameters can be set by calling SetRealParameterValue().

◆ GetStatesList()

std::unordered_set< std::string > chrono::ChExternalFmu::GetStatesList ( ) const

Get a list of all real states among the FMU variables.

These are variables of type="Real" that are declared as state variables. The value of such parameters can be set by calling SetRealParameterValue().

◆ Initialize()

void chrono::ChExternalFmu::Initialize ( )
overridevirtual

Initialize this physics item.

This function initializes the underlying FMU as well as this physcis item.

Reimplemented from chrono::ChExternalDynamics.

◆ SetInitialCondition()

void chrono::ChExternalFmu::SetInitialCondition ( const std::string &  name,
double  value 
)

Set the initial value for an FMU state.

This function must be called before Initialize() and only for an FMU variable of type="Real" that is declared as state variable.

◆ SetIntParameterValue()

void chrono::ChExternalFmu::SetIntParameterValue ( const std::string &  name,
int  value 
)

Set the value of an integer parameter.

This function must be called before Initialize() and only for an FMU variable of type="Integer", with variability!="constant" that has initial="exact" or causality="input" and is not a state variable.

◆ SetRealInputFunction()

void chrono::ChExternalFmu::SetRealInputFunction ( const std::string &  name,
std::function< double(double)>  function 
)

Set a continuous input function.

This function will be called automatically during the simulation loop, before interogating the FMU for the model equations, to return a value that is then used to set the FMU variable with specified name at the current time. Continuous inputs are FMU variables of type="Real", with causality="input" and variability="continuous".

◆ SetRealParameterValue()

void chrono::ChExternalFmu::SetRealParameterValue ( const std::string &  name,
double  value 
)

Set the value of a real parameter.

This function must be called before Initialize() and only for an FMU variable of type="Real", with variability!="constant" that has initial="exact" or causality="input" and is not a state variable.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_fmi/fmi2/ChExternalFmu.h
  • /builds/uwsbel/chrono/src/chrono_fmi/fmi2/ChExternalFmu.cpp