Description

Base class for a co-simulation node.

#include <ChVehicleCosimBaseNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimBaseNode:

[legend]

Collaboration diagram for chrono::vehicle::ChVehicleCosimBaseNode:

Classes
struct	MeshContact
	Mesh contact information (received from terrain node) More...

struct	MeshState
	Mesh state information (sent to terrain node) More...

Public Types
enum	NodeType { NodeType::MBS_WHEELED, NodeType::MBS_TRACKED, NodeType::TERRAIN, NodeType::TIRE }
	Type of node participating in co-simulation. More...

enum	InterfaceType { InterfaceType::BODY, InterfaceType::MESH }
	Type of the vehicle-terrain communication interface. More...

Public Member Functions
virtual NodeType	GetNodeType () const =0
	Return the node type.

std::string	GetNodeTypeString () const
	Return the node type as a string.

bool	IsCosimNode () const
	Return true if this node is part of the co-simulation infrastructure.

void	SetStepSize (double step)
	Set the integration step size (default: 1e-4).

double	GetStepSize () const
	Get the integration step size.

void	SetOutDir (const std::string &dir_name, const std::string &suffix="")
	Set the name of the output directory and an identifying suffix. More...

void	SetVerbose (bool verbose)
	Enable/disable verbose messages during simulation (default: true).

void	EnableRuntimeVisualization (double render_fps=100, bool save_img=false)
	Enable run-time visualization (default: false). More...

void	SetCameraPosition (const ChVector3d &cam_pos, const ChVector3d &cam_target=VNULL)
	Set camera location and target point.

void	SetCameraTracking (bool track)
	Enable/disable tracking of objects (default: true).

void	EnablePostprocessVisualization (double render_fps=100)
	Enable Blender postprocessing (default: false). More...

const std::string &	GetOutDirName () const
	Get the output directory name for this node.

double	GetStepExecutionTime () const
	Get the simulation execution time for the current step on this node. More...

double	GetTotalExecutionTime () const
	Get the cumulative simulation execution time on this node.

virtual void	Initialize ()
	Initialize this node. More...

virtual void	Synchronize (int step_number, double time)=0
	Synchronize this node. More...

virtual void	OnRender ()
	Render the current simulation frame. More...

virtual void	Advance (double step_size)=0
	Advance simulation. More...

void	Render (double step_size)
	Render simulation frame. More...

virtual void	OutputData (int frame)=0
	Output logging and debugging data.

virtual void	OutputVisualizationData (int frame)=0
	Output post-processing visualization data. More...

virtual void	WriteCheckpoint (const std::string &filename) const
	Write checkpoint to the specified file (which will be created in the output directory).

Static Public Member Functions
static std::string	OutputFilename (const std::string &dir, const std::string &root, const std::string &ext, int frame, int frame_digits)
	Utility function for creating an output file name. More...

Protected Member Functions
	ChVehicleCosimBaseNode (const std::string &name)

virtual ChSystem *	GetSystemPostprocess () const =0
	Get the Chrono system that holds the visualization shapes (used only for post-processing export).

void	SendGeometry (const utils::ChBodyGeometry &geom, int dest) const
	Utility function to pack and send a struct with geometry information.

void	RecvGeometry (utils::ChBodyGeometry &geom, int source) const
	Utility function to receive and unpack a struct with geometry information.

void	ProgressBar (unsigned int x, unsigned int n, unsigned int w=50)
	Utility function to display a progress bar to the terminal. More...

Protected Attributes
int	m_rank
	MPI rank of this node (in MPI_COMM_WORLD)

double	m_step_size
	integration step size

std::string	m_name
	name of the node

std::string	m_out_dir
	top-level output directory

std::string	m_node_out_dir
	node-specific output directory

std::ofstream	m_outf
	output file stream

bool	m_renderRT
	if true, perform run-time rendering

bool	m_renderRT_all
	if true, render all frames

double	m_renderRT_step
	time step between rendered frames

bool	m_writeRT
	if true, write images to file

bool	m_renderPP
	if true, save data for post-processing

bool	m_renderPP_all
	if true, save data at all frames

double	m_renderPP_step
	time step between post-processing save frames

bool	m_track
	track objects

ChVector3d	m_cam_pos
	camera location

ChVector3d	m_cam_target
	camera target (lookat) point

unsigned int	m_num_wheeled_mbs_nodes

unsigned int	m_num_tracked_mbs_nodes

unsigned int	m_num_terrain_nodes

unsigned int	m_num_tire_nodes

ChTimer	m_timer
	timer for integration cost

double	m_cum_sim_time
	cumulative integration cost

bool	m_verbose
	verbose messages during simulation?

Static Protected Attributes
static const double	m_gacc = -9.81

Member Enumeration Documentation

◆ InterfaceType

enum chrono::vehicle::ChVehicleCosimBaseNode::InterfaceType

strong

Type of the vehicle-terrain communication interface.

A BODY interface assumes communication is done at the wheel spindle or track shoe level. At a synchronization time, the terrain node receives the full state of the spindle or track shoe body and must send forces acting on that body, for each tire or track shoe present in the simulation. This type of interface should be used for track shoes, rigid tires, or when the terrain node also performs the dynamics of a flexible tire.
A MESH interface assumes communication is done at the tire mesh level. At a synchronization time, the terrain node receives the tire mesh vertex states (positions and velocities) are must send forces acting on vertices of the mesh, for each object. This interface is typically used when flexible tires are simulated outside the terrain node (on separate tire nodes).

Enumerator
BODY	exchange state and force for a single body (wheel spindle or track shoe)
MESH	exchange state and force for a mesh (flexible tire mesh)

◆ NodeType

enum chrono::vehicle::ChVehicleCosimBaseNode::NodeType

strong

Type of node participating in co-simulation.

Enumerator
MBS_WHEELED	node performing multibody dynamics (wheeled vehicle)
MBS_TRACKED	node performing multibody dynamics (tracked vehicle)
TERRAIN	node performing terrain simulation
TIRE	node performing tire simulation

Member Function Documentation

◆ Advance()

virtual void chrono::vehicle::ChVehicleCosimBaseNode::Advance ( double step_size )

pure virtual

Advance simulation.

This function is called after a synchronization to allow the node to advance its state by the specified step. A node is allowed to take as many internal integration steps as required, but no inter-node communication should occur. A node may call Render() at the end of the step for possible visualization.

Implemented in chrono::vehicle::ChVehicleCosimWheeledMBSNode, chrono::vehicle::ChVehicleCosimTerrainNode, chrono::vehicle::ChVehicleCosimTrackedMBSNode, chrono::vehicle::ChVehicleCosimTireNodeFlexible, chrono::vehicle::ChVehicleCosimTireNodeRigid, chrono::vehicle::ChVehicleCosimOtherNode, and chrono::vehicle::ChVehicleCosimTireNodeBypass.

◆ EnablePostprocessVisualization()

void chrono::vehicle::ChVehicleCosimBaseNode::EnablePostprocessVisualization ( double render_fps = 100 )

Enable Blender postprocessing (default: false).

If enabled, output will be generated in dir_name/[NodeName]suffix/ (see SetOutDir).

◆ EnableRuntimeVisualization()

void chrono::vehicle::ChVehicleCosimBaseNode::EnableRuntimeVisualization	(	double	render_fps = `100`,
		bool	save_img = `false`
	)

Enable run-time visualization (default: false).

If enabled, rendering is done with the specified frequency. Note that a concrete node may not support run-time visualization or may not render all physics elements.

◆ GetStepExecutionTime()

double chrono::vehicle::ChVehicleCosimBaseNode::GetStepExecutionTime ( ) const

inline

Get the simulation execution time for the current step on this node.

This represents the time elapsed since the last synchronization point.

◆ Initialize()

void chrono::vehicle::ChVehicleCosimBaseNode::Initialize ( )

virtual

Initialize this node.

This function allows the node to initialize itself and, optionally, perform an initial data exchange with any other node. A derived class implementation should first call this base class function.

Reimplemented in chrono::vehicle::ChVehicleCosimTireNode, chrono::vehicle::ChVehicleCosimWheeledMBSNode, chrono::vehicle::ChVehicleCosimTerrainNode, and chrono::vehicle::ChVehicleCosimTrackedMBSNode.

◆ OnRender()

virtual void chrono::vehicle::ChVehicleCosimBaseNode::OnRender ( )

inlinevirtual

Render the current simulation frame.

This function is invoked from Render() at the frequency specified in the call to EnableRuntimeVisualization().

◆ OutputFilename()

std::string chrono::vehicle::ChVehicleCosimBaseNode::OutputFilename	(	const std::string &	dir,
		const std::string &	root,
		const std::string &	ext,
		int	frame,
		int	frame_digits
	)

static

Utility function for creating an output file name.

It generates and returns a string of the form "{dir}/{root}_{frame}.{ext}", where {frame} is printed using the format "%0{frame_digits}d".

◆ OutputVisualizationData()

virtual void chrono::vehicle::ChVehicleCosimBaseNode::OutputVisualizationData ( int frame )

pure virtual

Output post-processing visualization data.

If implemented, this function should write a file in the "visualization" subdirectory of m_node_out_dir.

Implemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularOMP, chrono::vehicle::ChVehicleCosimTerrainNodeGranularGPU, chrono::vehicle::ChVehicleCosimWheeledMBSNode, chrono::vehicle::ChVehicleCosimTrackedMBSNode, chrono::vehicle::ChVehicleCosimTerrainNodeRigid, chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH, chrono::vehicle::ChVehicleCosimOtherNode, and chrono::vehicle::ChVehicleCosimTerrainNode.

◆ ProgressBar()

void chrono::vehicle::ChVehicleCosimBaseNode::ProgressBar	(	unsigned int	x,
		unsigned int	n,
		unsigned int	w = `50`
	)

protected

Utility function to display a progress bar to the terminal.

Displays an ASCII progress bar for the quantity x which must be a value between 0 and n. The width 'w' represents the number of '=' characters corresponding to 100%.

◆ Render()

void chrono::vehicle::ChVehicleCosimBaseNode::Render ( double step_size )

Render simulation frame.

This function invokes OnRender() at the frequency specified through EnableRuntimeVisualization().

◆ SetOutDir()

void chrono::vehicle::ChVehicleCosimBaseNode::SetOutDir	(	const std::string &	dir_name,
		const std::string &	suffix = `""`
	)

Set the name of the output directory and an identifying suffix.

Output files will be created in subdirectories named dir_name/[NodeName]suffix/ where [NodeName] is "MBS", "TIRE", or "TERRAIN".

◆ Synchronize()

virtual void chrono::vehicle::ChVehicleCosimBaseNode::Synchronize	(	int	step_number,
		double	time
	)

pure virtual

Synchronize this node.

This function is called at every co-simulation synchronization time to allow the node to exchange information with any other node.

Implemented in chrono::vehicle::ChVehicleCosimTireNode, chrono::vehicle::ChVehicleCosimWheeledMBSNode, chrono::vehicle::ChVehicleCosimTerrainNode, chrono::vehicle::ChVehicleCosimTrackedMBSNode, and chrono::vehicle::ChVehicleCosimOtherNode.

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

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimBaseNode.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimBaseNode.cpp

Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Enumeration Documentation

◆ InterfaceType

◆ NodeType

Member Function Documentation

◆ Advance()

◆ EnablePostprocessVisualization()

◆ EnableRuntimeVisualization()

◆ GetStepExecutionTime()

◆ Initialize()

◆ OnRender()

◆ OutputFilename()

◆ OutputVisualizationData()

◆ ProgressBar()

◆ Render()

◆ SetOutDir()

◆ Synchronize()