Description

Base class for terrain nodes that use one of the Chrono terrain formulations.

#include <ChVehicleCosimTerrainNodeChrono.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:

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Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:

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Classes
struct	Proxy
	Base class for a proxy associated with a co-simulation solid. More...

struct	ProxyBodySet
	Proxy bodies associated with a co-simulation solid. More...

struct	ProxyMesh
	Proxy contact mesh surface associated with a co-simulation solid. More...

struct	RigidObstacle
	Specification of a rigid obstacle. More...

Public Types
enum	Type { Type::RIGID, Type::SCM, Type::GRANULAR_OMP, Type::GRANULAR_GPU, Type::GRANULAR_SPH, Type::UNKNOWN }
	Type of Chrono terrain. More...

Public Types inherited from chrono::vehicle::ChVehicleCosimBaseNode
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
Type	GetType () const
	Return the type of this terrain node.

void	SetProxyFixed (bool fixed)
	Set the proxy bodies as fixed to ground.

virtual double	GetInitHeight () const override final
	Return the terrain initial height.

void	AddRigidObstacle (const RigidObstacle &obstacle)
	Add a rigid obstacle.

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
virtual NodeType	GetNodeType () const override
	Return the node type as NodeType::TERRAIN.

void	SetDimensions (double length, double width)
	Set the terrain patch dimensions. More...

void	GetDimensions (double &length, double &width)
	Get the terrain patch dimensions.

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

virtual void	Synchronize (int step_number, double time) override final
	Synchronize this node. More...

virtual void	Advance (double step_size) override final
	Advance simulation. More...

virtual void	OutputData (int frame) override final
	Output logging and debugging data.

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

virtual unsigned int	GetNumContacts () const
	Return current number of contacts. More...

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
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	OnRender ()
	Render the current simulation frame. More...

void	Render (double step_size)
	Render simulation frame. 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	GetTypeAsString (Type type)
	Return a string describing the type of this terrain node.

static Type	GetTypeFromString (const std::string &type)
	Infer the terrain node type from the given string.

static bool	ReadSpecfile (const std::string &specfile, rapidjson::Document &d)
	Read a JSON specification file for a Chrono terrain node.

static Type	GetTypeFromSpecfile (const std::string &specfile)
	Get the terrain type from the given JSON specification file.

static ChVector2d	GetSizeFromSpecfile (const std::string &specfile)
	Get the terrain dimensions (length and width) from the given JSON specification file.

Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
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
	ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method)
	Construct a base class terrain node. More...

virtual void	OnInitialize (unsigned int num_objects) override
	Initialize this Chrono terrain node. More...

virtual void	OnAdvance (double step_size) override
	Advance simulation. More...

virtual ChSystem *	GetSystem ()=0
	Return a pointer to the underlying Chrono system.

virtual void	Construct ()=0
	Construct the terrain (independent of the vehicle system).

virtual void	CreateRigidProxy (unsigned int i)=0
	Create the i-th proxy rigid. More...

virtual void	CreateMeshProxy (unsigned int i)
	Create the i-th proxy mesh. More...

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
	ChVehicleCosimTerrainNode (double length, double width)
	Construct a terrain node to wrap a terrain patch of given length and width.

virtual bool	SupportsMeshInterface () const =0
	Specify whether or not the terrain node supports the MESH communication interface. More...

virtual void	OnSynchronize (int step_number, double time)
	Perform any additional operations after the data exchange and synchronization with the MBS node. More...

virtual void	OnOutputData (int frame)
	Perform additional output at the specified frame (called from within OutputData).

virtual void	UpdateMeshProxy (unsigned int i, MeshState &mesh_state)
	Update the state of the i-th proxy mesh. More...

virtual void	GetForceMeshProxy (unsigned int i, MeshContact &mesh_contact)
	Collect cumulative contact forces on the i-th proxy mesh. More...

virtual void	UpdateRigidProxy (unsigned int i, BodyState &rigid_state)=0
	Update the state of the i-th proxy rigid. More...

virtual void	GetForceRigidProxy (unsigned int i, TerrainForce &rigid_contact)=0
	Collect cumulative contact force and torque on the i-th proxy rigid. More...

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
	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
Type	m_type
	terrain type

ChContactMethod	m_method
	contact method (SMC or NSC)

std::shared_ptr< ChContactMaterial >	m_material_terrain
	material properties for terrain bodies

double	m_init_height
	terrain initial height

std::vector< std::shared_ptr< Proxy > >	m_proxies
	proxies for solid objects

bool	m_fixed_proxies
	are proxies fixed to ground?

std::vector< RigidObstacle >	m_obstacles
	list of rigid obstacles

Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNode
double	m_dimX
	patch length (X direction)

double	m_dimY
	patch width (Y direction)

bool	m_wheeled
	comm node (true: TIRE nodes, false: tracked MBS node)

InterfaceType	m_interface_type
	communication interface (body or mesh)

int	m_num_objects
	number of interacting objects

std::vector< ChVector3d >	m_init_loc
	initial locations of interacting objects

std::vector< ChAABB >	m_aabb
	AABB of collision models for interacting objects.

std::vector< utils::ChBodyGeometry >	m_geometry
	contact geometry and materials for interacting objects

std::vector< double >	m_load_mass
	vertical load on interacting objects

std::vector< int >	m_obj_map
	mapping from interacting object to shape

std::vector< MeshState >	m_mesh_state
	mesh state (used for MESH communication)

std::vector< BodyState >	m_rigid_state
	rigid state (used for BODY communication interface)

std::vector< MeshContact >	m_mesh_contact
	mesh contact forces (used for MESH communication interface)

std::vector< TerrainForce >	m_rigid_contact
	rigid contact force (used for BODY communication interface)

Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
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?

Additional Inherited Members
Static Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
static const double	m_gacc = -9.81

Member Enumeration Documentation

◆ Type

enum chrono::vehicle::ChVehicleCosimTerrainNodeChrono::Type

strong

Type of Chrono terrain.

Enumerator
RIGID	rigid terrain
SCM	Soil Contact Model.
GRANULAR_OMP	granular terrain (Chrono::Multicore)
GRANULAR_GPU	granular terrain (Chrono::Gpu)
GRANULAR_SPH	continuous representation of granular terrain (Chrono::FSI)
UNKNOWN	unknown terrain type

Constructor & Destructor Documentation

◆ ChVehicleCosimTerrainNodeChrono()

chrono::vehicle::ChVehicleCosimTerrainNodeChrono::ChVehicleCosimTerrainNodeChrono	(	Type	type,
		double	length,
		double	width,
		ChContactMethod	method
	)

protected

Construct a base class terrain node.

Parameters

type	terrain type
length	terrain patch length
width	terain patch width
method	contact method (SMC or NSC)

Member Function Documentation

◆ CreateMeshProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateMeshProxy ( unsigned int i )

inlineprotectedvirtual

Create the i-th proxy mesh.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ CreateRigidProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateRigidProxy ( unsigned int i )

protectedpure virtual

Create the i-th proxy rigid.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ OnAdvance()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnAdvance ( double step_size )

overrideprotectedvirtual

Advance simulation.

This function is called after a synchronization to allow the node to advance its state by the specified time step. A node is allowed to take as many internal integration steps as required, but no inter-node communication should occur.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

◆ OnInitialize()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnInitialize ( unsigned int num_objects )

overrideprotectedvirtual

Initialize this Chrono terrain node.

Construct the terrain system and the proxy bodies.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

Reimplemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularOMP, chrono::vehicle::ChVehicleCosimTerrainNodeGranularGPU, chrono::vehicle::ChVehicleCosimTerrainNodeSCM, chrono::vehicle::ChVehicleCosimTerrainNodeRigid, and chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH.

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

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.cpp

Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members