Description

Base class for all MBS nodes with wheels.

#include <ChVehicleCosimWheeledMBSNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimWheeledMBSNode:

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Collaboration diagram for chrono::vehicle::ChVehicleCosimWheeledMBSNode:

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Public Member Functions
virtual NodeType	GetNodeType () const override
	Return the node type as NodeType::MBS_WHEELED.

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.

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).

Protected Member Functions
	ChVehicleCosimWheeledMBSNode ()
	Construct a base class wheeled MBS node.

virtual void	InitializeMBS (const ChVector2d &terrain_size, double terrain_height)=0
	Initialize the underlying MBS. More...

virtual void	ApplyTireInfo (const std::vector< ChVector3d > &tire_info)=0
	Apply tire info (after InitializeMBS). More...

virtual void	PreAdvance (double step_size)
	Perform any required operations before advancing the state of the MBS. More...

virtual void	PostAdvance (double step_size)
	Perform any required operations after advancing the state of the MBS. More...

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

virtual void	ApplySpindleForce (unsigned int i, const TerrainForce &spindle_force)=0
	Apply the provided force to the i-th spindle body. More...

virtual unsigned int	GetNumSpindles () const =0
	Get the number of spindles/wheels defined by the underlying MBS. More...

virtual std::shared_ptr< ChBody >	GetSpindleBody (unsigned int i) const =0
	Get the spindle body to which the i-th wheel/tire is attached.

virtual double	GetSpindleLoad (unsigned int i) const =0
	Get the load weight on the i-th wheel/tire. More...

virtual BodyState	GetSpindleState (unsigned int i) const =0
	Get the body state of the spindle body to which the i-th wheel/tire is attached.

virtual std::shared_ptr< ChBody >	GetChassisBody () const =0
	Get the "chassis" body. More...

virtual void	OnInitializeDBPRig (std::shared_ptr< ChFunction > func)=0
	Impose spindle angular speed function. More...

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
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?

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...

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

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChVehicleCosimWheeledMBSNode::Advance ( double step_size )

finaloverridevirtual

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::ChVehicleCosimBaseNode.

◆ ApplySpindleForce()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::ApplySpindleForce	(	unsigned int	i,
		const TerrainForce &	spindle_force
	)

protectedpure virtual

Apply the provided force to the i-th spindle body.

This function is called during synchronization when the force is received from the corresponding tire node.

◆ ApplyTireInfo()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::ApplyTireInfo ( const std::vector< ChVector3d > & tire_info )

protectedpure virtual

Apply tire info (after InitializeMBS).

This includes mass, radius, and width for each tire.

◆ GetChassisBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChVehicleCosimWheeledMBSNode::GetChassisBody ( ) const

protectedpure virtual

Get the "chassis" body.

Only used is a drawbar-pull rig is attached.

◆ GetNumSpindles()

virtual unsigned int chrono::vehicle::ChVehicleCosimWheeledMBSNode::GetNumSpindles ( ) const

protectedpure virtual

Get the number of spindles/wheels defined by the underlying MBS.

A co-simulation must have a matching number of TIRE nodes.

◆ GetSpindleLoad()

virtual double chrono::vehicle::ChVehicleCosimWheeledMBSNode::GetSpindleLoad ( unsigned int i ) const

protectedpure virtual

Get the load weight on the i-th wheel/tire.

Note: this must also include the mass of the tire itself.

◆ Initialize()

void chrono::vehicle::ChVehicleCosimWheeledMBSNode::Initialize ( )

finaloverridevirtual

Initialize this node.

This function allows the node to initialize itself and, optionally, perform an initial data exchange with any other node.

Reimplemented from chrono::vehicle::ChVehicleCosimBaseNode.

◆ InitializeMBS()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::InitializeMBS	(	const ChVector2d &	terrain_size,
		double	terrain_height
	)

protectedpure virtual

Initialize the underlying MBS.

Parameters

terrain_size	terrain length x width
terrain_height	initial terrain height

◆ OnInitializeDBPRig()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::OnInitializeDBPRig ( std::shared_ptr< ChFunction > func )

protectedpure virtual

Impose spindle angular speed function.

This function is called (during initialization, after the call to InitializeMBS) only if a drawbar-pull rig is attached. A derived class must enforce the specified angular speed on all spindles and, if appropriate, disconnect any other power transmission mechanism (such as a powertrain/driveline).

◆ OnOutputData()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::OnOutputData ( int frame )

inlineprotectedvirtual

Perform additional output at the specified frame (called from within OutputData).

For example, output mechanism-specific data for post-procesing.

◆ PostAdvance()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::PostAdvance ( double step_size )

inlineprotectedvirtual

Perform any required operations after advancing the state of the MBS.

This function is called after every integration step.

◆ PreAdvance()

virtual void chrono::vehicle::ChVehicleCosimWheeledMBSNode::PreAdvance ( double step_size )

inlineprotectedvirtual

Perform any required operations before advancing the state of the MBS.

This function is called before every integration step.

◆ SetIntegratorType()

void chrono::vehicle::ChVehicleCosimWheeledMBSNode::SetIntegratorType	(	ChTimestepper::Type	int_type,
		ChSolver::Type	slv_type
	)

Set integrator and solver types.

For the MKL solver, use slv_type = ChSolver::Type::CUSTOM.

Parameters

int_type	integrator type (default: HHT)
slv_type	solver type (default:: MKL)

◆ Synchronize()

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

finaloverridevirtual

Synchronize this node.

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

Implements chrono::vehicle::ChVehicleCosimBaseNode.

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Advance()

◆ ApplySpindleForce()

◆ ApplyTireInfo()

◆ GetChassisBody()

◆ GetNumSpindles()

◆ GetSpindleLoad()

◆ Initialize()

◆ InitializeMBS()

◆ OnInitializeDBPRig()

◆ OnOutputData()

◆ PostAdvance()

◆ PreAdvance()

◆ SetIntegratorType()

◆ Synchronize()