Description

Parser for YAML specification files for Chrono models and simulations.

The parser caches model information and simulation settings from the corresponding YAML input files and then allows populating a Chrono system and setting solver and simulation parameters.

#include <ChParserMbsYAML.h>

Inheritance diagram for chrono::parsers::ChParserMbsYAML:

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Collaboration diagram for chrono::parsers::ChParserMbsYAML:

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Public Member Functions
	ChParserMbsYAML (bool verbose=false)

	ChParserMbsYAML (const std::string &yaml_model_filename, const std::string &yaml_sim_filename, bool verbose=false)
	Create a YAML parser and load the model from the specified input YAML file.

bool	HasSimulationData () const
	Return true if a YAML simulation file has been loaded.

bool	HasModelData () const
	Return true if a YAML model file has been loaded.

void	LoadSimulationFile (const std::string &yaml_filename)
	Load the simulation parameters from the specified input YAML simulation file.

double	GetTimestep () const

double	GetEndtime () const

bool	EnforceRealtime () const

bool	Render () const

double	GetRenderFPS () const

CameraVerticalDir	GetCameraVerticalDir () const

const ChVector3d &	GetCameraLocation () const

const ChVector3d &	GetCameraTarget () const

bool	EnableShadows () const

std::shared_ptr< ChSystem >	CreateSystem ()
	Create and return a Chrono system configured from cached simulation parameters. More...

void	SetSimulationParameters (ChSystem &sys)
	Set solver and integrator settings from cached values. More...

void	LoadModelFile (const std::string &yaml_filename)
	Load the model from the specified input YAML model file.

int	Populate (ChSystem &sys, const ChFramed &model_frame=ChFramed(), const std::string &model_prefix="")
	Populate the given system with the cached Chrono components. More...

void	Depopulate (ChSystem &sys, int instance_index)
	Remove from the specified system the Chrono objects from the specified instance.

int	GetNumInstances () const
	Return the number of instances created from the YAML model file.

std::shared_ptr< ChBodyAuxRef >	FindBodyByName (const std::string &name) const
	Find and return the body with specified name in the current model instance.

std::shared_ptr< ChBodyAuxRef >	FindBodyByName (const std::string &name, int model_instance) const
	Find and return the body with specified name in the given model instance.

std::vector< std::shared_ptr< ChBodyAuxRef > >	FindBodiesByName (const std::string &name) const
	Find and return bodies with given base name from all model instances.

std::shared_ptr< ChLinkMotor >	FindMotorByName (const std::string &name) const
	Find and return the motor with specified name in the current model instance.

std::shared_ptr< ChLinkMotor >	FindMotorByName (const std::string &name, int model_instance) const
	Find and return the motor with specified name in the given model instance.

std::vector< std::shared_ptr< ChLinkMotor > >	FindMotorsByName (const std::string &name) const
	Find and return motors with given base name from all model instances.

void	AttachLoadController (std::shared_ptr< ChLoadController > controller, const std::string &name, int model_instance=0)
	Attach the external controller for the load controller with given name. More...

void	AttachMotorController (std::shared_ptr< ChMotorController > controller, const std::string &name, int model_instance=0)
	Attach the external controller for the motor controller with given name. More...

void	DoStepDynamics ()
	Advance dynamics of the multibody system. More...

void	ApplyLoadControllerLoads (const LoadControllerLoads &controller_loads)
	Apply loads generated by the load controllers in the given list. More...

void	ApplyMotorControllerActuations (const MotorControllerActuations &controller_loads)
	Apply actuations generated by the motor controllers in the given list. More...

void	SaveOutput (ChSystem &sys, int frame)
	Save simulation output results at the current time. More...

Public Member Functions inherited from chrono::parsers::ChParserYAML
void	SetVerbose (bool verbose)
	Set verbose terminal output (default: false).

void	SetOutputDir (const std::string &out_dir)
	Set root output directory (default: "").

const std::string &	GetName () const
	Return the name of the YAML model.

virtual bool	Output () const
	Return true if generating output.

ChOutput::Type	GetOutputType () const
	Return the output type.

virtual double	GetOutputFPS () const
	Return the output frequency.

virtual void	SaveOutput (int frame)
	Save simulation output results at the current time.

Friends
class	ChParserFsiYAML

Additional Inherited Members
Public Types inherited from chrono::parsers::ChParserYAML
enum	DataPathType { ABS, REL }

Protected Member Functions inherited from chrono::parsers::ChParserYAML
std::string	GetDatafilePath (const std::string &filename)
	Return the path to the specified data file.

Static Protected Member Functions inherited from chrono::parsers::ChParserYAML
static void	CheckVersion (const YAML::Node &a)

static std::string	ToUpper (std::string in)

static DataPathType	ReadDataPathType (const YAML::Node &a)
	Read the data path type (absolute or relative).

static ChVector3d	ReadVector (const YAML::Node &a)
	Load and return a ChVector3d from the specified node.

static ChQuaterniond	ReadQuaternion (const YAML::Node &a)
	Load and return a ChQuaternion from the specified node.

static ChQuaterniond	ReadCardanAngles (const YAML::Node &a, bool use_degrees)
	Load a Cardan angle sequence from the specified node and return as a quaternion. More...

static ChQuaterniond	ReadRotation (const YAML::Node &a, bool use_degrees)
	Return a quaternion loaded from the specified node. More...

static ChCoordsysd	ReadCoordinateSystem (const YAML::Node &a, bool use_degrees)
	Load and return a coordinate system from the specified node.

static std::shared_ptr< ChFunction >	ReadFunction (const YAML::Node &a, bool use_degrees)
	Load and return a ChFunction object from the specified node.

static ChColor	ReadColor (const YAML::Node &a)
	Load and return a ChColor from the specified node.

static ChOutput::Type	ReadOutputType (const YAML::Node &a)

static ChOutput::Mode	ReadOutputMode (const YAML::Node &a)

static void	PrintNodeType (const YAML::Node &node)
	Print YAML node type.

Protected Attributes inherited from chrono::parsers::ChParserYAML
std::string	m_name
	name of the YAML model

bool	m_verbose
	verbose terminal output (default: false)

bool	m_use_degrees
	all angles given in degrees (default: true)

std::string	m_output_dir
	root oputput directory

std::shared_ptr< ChOutput >	m_output_db
	output database

DataPathType	m_data_path

std::string	m_rel_path

std::string	m_script_directory

OutputParameters	m_output

Member Function Documentation

◆ ApplyLoadControllerLoads()

void chrono::parsers::ChParserMbsYAML::ApplyLoadControllerLoads ( const LoadControllerLoads & controller_loads )

Apply loads generated by the load controllers in the given list.

Notes:

controller loads are automatically set in ChParserMbsYAML::DoStepDynamics if controllers have been added with ChParserMbsYAML::AttachLoadController.
this function provides an alternative mechanism for applying controller loads (for arbitrary controllers, not necessarily derived from ChLoadController).

◆ ApplyMotorControllerActuations()

void chrono::parsers::ChParserMbsYAML::ApplyMotorControllerActuations ( const MotorControllerActuations & controller_loads )

Apply actuations generated by the motor controllers in the given list.

Notes:

controller actuations are automatically set in ChParserMbsYAML::DoStepDynamics if controllers have been added with ChParserMbsYAML::AttachMotorController.
this function provides an alternative mechanism for applying controller actuations (for arbitrary controllers, not necessarily derived from ChMotorController).

◆ AttachLoadController()

void chrono::parsers::ChParserMbsYAML::AttachLoadController	(	std::shared_ptr< ChLoadController >	controller,
		const std::string &	name,
		int	model_instance = `0`
	)

Attach the external controller for the load controller with given name.

This function can be called only after the MBS model was loaded and the model specification must include parameters for a load controller with specified name.

◆ AttachMotorController()

void chrono::parsers::ChParserMbsYAML::AttachMotorController	(	std::shared_ptr< ChMotorController >	controller,
		const std::string &	name,
		int	model_instance = `0`
	)

Attach the external controller for the motor controller with given name.

This function can be called only after the MBS model was loaded, the model specification must include parameters for a motor with specified name, and that motor was set as externally actuated.

◆ CreateSystem()

std::shared_ptr< ChSystem > chrono::parsers::ChParserMbsYAML::CreateSystem ( )

Create and return a Chrono system configured from cached simulation parameters.

If no YAML simulation file was loaded, this function returns a ChSystemNSC with default settings.

◆ DoStepDynamics()

void chrono::parsers::ChParserMbsYAML::DoStepDynamics ( )

Advance dynamics of the multibody system.

load controllers (if any are attached) are synchronized and their dynamics advanced in time;
output is generated if requested in the simulation YAML file;
the dynamics of the underlying Chrono system is advanced in time;
soft real-time is enforced if requested in the simulation YAML file.

◆ Populate()

int chrono::parsers::ChParserMbsYAML::Populate	(	ChSystem &	sys,
		const ChFramed &	model_frame = `ChFramed()`,
		const std::string &	model_prefix = `""`
	)

Populate the given system with the cached Chrono components.

An instance of the underlying Chrono model can be created at the specified frame (relative to the global frame), with all Chrono object names using the specified prefix. Throws an error if no YAML model file was loaded.

◆ SaveOutput()

void chrono::parsers::ChParserMbsYAML::SaveOutput	(	ChSystem &	sys,
		int	frame
	)

Save simulation output results at the current time.

Note: this function is automatically called in ChParserMbsYAML::DoStepDynamics.

◆ SetSimulationParameters()

void chrono::parsers::ChParserMbsYAML::SetSimulationParameters ( ChSystem & sys )

Set solver and integrator settings from cached values.

If no YAML simulation file was loaded, this function is a no-op.

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

/builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserMbsYAML.h
/builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserMbsYAML.cpp