Description

Tracked vehicle co-simulation node.

The vehicle system is co-simulated with track nodes and a terrain node.

#include <ChVehicleCosimTrackedVehicleNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTrackedVehicleNode:

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Collaboration diagram for chrono::vehicle::ChVehicleCosimTrackedVehicleNode:

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Public Member Functions
	ChVehicleCosimTrackedVehicleNode (const std::string &vehicle_json, const std::string &engine_json, const std::string &transmission_json)
	Construct a tracked vehicle node using the provided vehicle and powertrain JSON specification files. More...

	ChVehicleCosimTrackedVehicleNode (std::shared_ptr< ChTrackedVehicle > vehicle, std::shared_ptr< ChPowertrainAssembly > powertrain)
	Construct a tracked vehicle node using the provided vehicle and powertrain objects. More...

std::shared_ptr< ChTrackedVehicle >	GetVehicle () const
	Get the underlying vehicle system.

void	SetInitialLocation (const ChVector3d &init_loc)
	Set the initial vehicle position, relative to the center of the terrain top-surface.

void	SetInitialYaw (double init_yaw)
	Set the initial vehicle yaw angle (in radians).

void	SetDriver (std::shared_ptr< ChDriver > driver)
	Attach a vehicle driver system.

void	SetChassisFixed (bool val)
	Fix vehicle chassis to ground.

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

void	SetNumThreads (int num_threads)
	Set the number of OpenMP threads used in Chrono simulation (default: 1).

void	SetIntegratorType (ChTimestepper::Type int_type, ChSolver::Type slv_type)
	Set integrator and solver types. More...

void	SetChassisFixed (bool val)
	Fix the chassis to ground (default: false).

void	AttachDrawbarPullRig (std::shared_ptr< ChVehicleCosimDBPRig > rig)
	Attach a drawbar pull rig to the MBS system.

std::shared_ptr< ChVehicleCosimDBPRig >	GetDrawbarPullRig () const
	Return the drawbar-pull rig, if one is attached.

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 final
	Output post-processing visualization data.

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.

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).

Additional Inherited Members
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...

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 inherited from chrono::vehicle::ChVehicleCosimTrackedMBSNode
	ChVehicleCosimTrackedMBSNode ()
	Construct a base class tracked MBS node.

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
	ChVehicleCosimBaseNode (const std::string &name)

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 inherited from chrono::vehicle::ChVehicleCosimTrackedMBSNode
ChSystemSMC *	m_system
	containing system

ChTimestepper::Type	m_int_type
	integrator type

ChSolver::Type	m_slv_type
	solver type

std::shared_ptr< ChTimestepperHHT >	m_integrator
	HHT integrator object.

std::shared_ptr< ChVehicleCosimDBPRig >	m_DBP_rig
	DBP rig.

std::ofstream	m_DBP_outf
	DBP output file stream.

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?

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

Constructor & Destructor Documentation

◆ ChVehicleCosimTrackedVehicleNode() [1/2]

chrono::vehicle::ChVehicleCosimTrackedVehicleNode::ChVehicleCosimTrackedVehicleNode	(	const std::string &	vehicle_json,
		const std::string &	engine_json,
		const std::string &	transmission_json
	)

Construct a tracked vehicle node using the provided vehicle and powertrain JSON specification files.

Parameters

vehicle_json	vehicle JSON specification file
engine_json	engine JSON specification file
transmission_json	transmission JSON specification file

◆ ChVehicleCosimTrackedVehicleNode() [2/2]

chrono::vehicle::ChVehicleCosimTrackedVehicleNode::ChVehicleCosimTrackedVehicleNode	(	std::shared_ptr< ChTrackedVehicle >	vehicle,
		std::shared_ptr< ChPowertrainAssembly >	powertrain
	)

Construct a tracked vehicle node using the provided vehicle and powertrain objects.

Notes:

the provided vehicle system must be constructed with a null Chrono system.
the vehicle and powertrain system should not be initialized.

Parameters

vehicle	vehicle system
powertrain	powertrain system

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

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/mbs/ChVehicleCosimTrackedVehicleNode.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/mbs/ChVehicleCosimTrackedVehicleNode.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChVehicleCosimTrackedVehicleNode() [1/2]

◆ ChVehicleCosimTrackedVehicleNode() [2/2]