Description
Extension of FmuComponentBase class for Chrono FMUs.
#include <ChFmuToolsExport.h>
Inherits FmuComponentBase.
Inherited by FmuComponent, FmuComponent, and FmuComponent.
Public Member Functions | |
| FmuChronoComponentBase (fmi2String instanceName, fmi2Type fmuType, fmi2String fmuGUID, fmi2String fmuResourceLocation, const fmi2CallbackFunctions *functions, fmi2Boolean visible, fmi2Boolean loggingOn) | |
| void | AddFmuVecVariable (ChVector3d &v, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous) |
| Add FMU variables corresponding to the specified ChVector3d. More... | |
| void | AddFmuQuatVariable (ChQuaternion<> &q, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous) |
| Add FMU variables corresponding to the specified ChQuaternion. More... | |
| void | AddFmuCsysVariable (ChCoordsysd &s, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous) |
| Add FMU variables corresponding to the specified ChCoordsys. More... | |
| void | AddFmuFrameVariable (ChFrame<> &s, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous) |
| Add FMU variables corresponding to the specified ChFrame. More... | |
| void | AddFmuFrameMovingVariable (ChFrameMoving<> &s, const std::string &name, const std::string &unit_name, const std::string &unit_name_dt, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous) |
| Add FMU variables corresponding to the specified ChFrameMoving. More... | |
| void | AddFmuVisualShapes (const ChPhysicsItem &pi, std::string custom_pi_name="") |
| Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem. More... | |
| void | AddFmuVisualShapes (const ChAssembly &ass) |
| Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly. More... | |
Protected Types | |
| using | VisTuple = std::tuple< ChFrame<>, const ChPhysicsItem *, const ChFrame<> *, bool > |
Protected Attributes | |
| chrono::ChOutputFMU | variables_serializer |
| add variables to the FMU component by leveraging the serialization mechanism | |
| std::unordered_map< fmi2Integer, VisTuple > | visualizer_frames |
| Map of visualization global frames. More... | |
| fmi2Integer | visualizers_counter = 0 |
| total number of visualizers (not unsigned to keep compatibility with FMU standard types) | |
Static Protected Attributes | |
| static const std::unordered_set< std::string > | supported_shape_types |
| list of supported shapes for visualization, required to provide a memory position to getters of shape type More... | |
Member Function Documentation
◆ AddFmuCsysVariable()
|
inline |
Add FMU variables corresponding to the specified ChCoordsys.
This function creates 7 FMU variables, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real.
◆ AddFmuFrameMovingVariable()
|
inline |
Add FMU variables corresponding to the specified ChFrameMoving.
This function creates 7 FMU variables for the pose, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real. Additionally, 7 FMU variables are created to encode the position and orientation time derivatives.
◆ AddFmuFrameVariable()
|
inline |
Add FMU variables corresponding to the specified ChFrame.
This function creates 7 FMU variables, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real.
◆ AddFmuQuatVariable()
|
inline |
Add FMU variables corresponding to the specified ChQuaternion.
This function creates 4 FMU variables, one for each component of the ChVector3d, with names "name.e0", "name.e1", "name.e2", and "name.e3", all of type FmuVariable::Type::Real.
◆ AddFmuVecVariable()
|
inline |
Add FMU variables corresponding to the specified ChVector3d.
This function creates 3 FMU variables, one for each component of the ChVector3d, with names "name.x", "name.y", and "name.z", all of type FmuVariable::Type::Real.
◆ AddFmuVisualShapes() [1/2]
| void chrono::FmuChronoComponentBase::AddFmuVisualShapes | ( | const ChAssembly & | ass | ) |
Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly.
Refer to the AddFmuVisualShapes(ChPhysicsItem) function for details on the variables created.
◆ AddFmuVisualShapes() [2/2]
| void chrono::FmuChronoComponentBase::AddFmuVisualShapes | ( | const ChPhysicsItem & | pi, |
| std::string | custom_pi_name = "" |
||
| ) |
Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem.
Variables with the following names are created for each visual shape:
- VISUALIZER[i].frame.pos.[x|y|z]: position from global to shape local frame in global reference frame
- VISUALIZER[i].frame.rot.[e0|e1|e2|e3]]: rotation from shape local to global frame
- VISUALIZER[i].shape.type [fmi2String]: one of the supported_shape_types
- VISUALIZER[i].owner [fmi2String]: owner of the shape, either custom_pi_name or from ChPhysicsItem::GetName()
- VISUALIZER[i].owner_id [fmi2String]: id of the owner ChPhysicsItem
- VISUALIZER[i].shape.<shape-specific variables>: depends on the shape type Variables are of fmi2Real type if not otherwise specified.
Member Data Documentation
◆ supported_shape_types
|
staticprotected |
list of supported shapes for visualization, required to provide a memory position to getters of shape type
◆ visualizer_frames
|
protected |
Map of visualization global frames.
Includes:
- visual shape frames (from shape local frame to global)
- ChPhysicsItem to which they are bounded
- (constant) ChFrame local to the shape
- flag to tell if the frame has been already updated in the current step
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono_fmi/fmi2/ChFmuToolsExport.h
