chrono::utils Namespace Reference
Description
Chrono core utilities.
Classes | |
| class | ChAbsorbedPowerVertical |
| Filter for vertical absorbed power. More... | |
| class | ChAnalogueFilter |
| Base class for simulated analogue filters in the time domain. More... | |
| class | ChBenchmarkFixture |
| Generic benchmark fixture for Chrono tests. More... | |
| class | ChBenchmarkTest |
| Base class for a Chrono benchmark test. More... | |
| class | ChBodyGeometry |
| Utility class defining geometry (visualization and collision) and contact materials for a rigid body. More... | |
| class | ChButterworthHighpass |
| Butterworth high-pass filter. More... | |
| class | ChButterworthLowpass |
| Butterworth low-pass filter. More... | |
| class | ChChaseCamera |
| Utility class for a generic chase camera which can be associated with any ChBody in a Chrono system. More... | |
| class | ChControllerPID |
| Simple PID controller. More... | |
| class | ChConvexHull2D |
| Simple 2D convex hull class. More... | |
| class | ChFilterD |
| Caclulate the time derivation of an input signal: H(s) = Td * s. More... | |
| class | ChFilterI |
| Calculate the integral of an input signal in the time domain: H(s) = 1 / ( Ti * s) More... | |
| class | ChFilterPD1 |
| PD1 controller: H(s) = Kdt1 * ( Td1 * s + 1 ) More... | |
| class | ChFilterPDT1 |
| PDT1 controller: H(s) = Kp * ( Td1 * s + 1 ) / ( T1 * s + 1) More... | |
| class | ChFilterPT1 |
| Delay an input signal: H(s) = Kpt1 / ( T1 * s + 1 ) More... | |
| class | ChGenerator |
| Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More... | |
| class | ChGridSampler |
| Sampler for 3D volumes using a regular (equidistant) grid. More... | |
| class | ChHCPSampler |
| Sampler for 3D volumes using a Hexagonally Close Packed structure. More... | |
| class | ChISO2631_1_Wd |
| Combined filter Wd. More... | |
| class | ChISO2631_1_Wf |
| Combined filter Wf. More... | |
| class | ChISO2631_1_Wk |
| Combined filter Wk. More... | |
| class | ChISO2631_5_Wxy |
| ISO2631-5 weighting filter for shock like signal in horizontal direction. More... | |
| class | ChISO2631_5_Wz |
| ISO2631-5 weighting filter for shock like signal in vertical direction. More... | |
| class | ChISO2631_Shock_SeatCushionLogger |
| Easy to use class for evaluation of ISO 2361-5 shock load on sitting vehicle occupants. More... | |
| class | ChISO2631_Vibration_SeatCushionLogger |
| Easy to use class for evaluation of ISO 2361-1 vibration load on sitting vehicle occupants Input: 3 seat accelerations x,y,z in [m/s^2]. More... | |
| class | ChMixtureIngredient |
| Encapsulation of an ingredient of one of the supported types in a mixture. More... | |
| class | ChMotionFilter |
| Base class for smoothing basic motion laws with discrete time-domain nonlinear filters. More... | |
| class | ChMotionFilterSecondOrder |
| Second-order nonlinear filter for smoothing basic motion laws (e.g. More... | |
| class | ChMotionFilterThirdOrder |
| Third-order nonlinear filter for smoothing basic motion laws (e.g. More... | |
| class | ChMovingAverage |
| Moving average filter for smoothing a data array. More... | |
| class | ChPDGrid |
| Simple 3D grid utility class for use by the Poisson Disk sampler. More... | |
| class | ChPDSampler |
| Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More... | |
| class | ChProfileIterator |
| An iterator to navigate through the tree. More... | |
| class | ChProfileManager |
| The Manager for the Profile system. More... | |
| class | ChProfileNode |
| A node in the Profile Hierarchy Tree. More... | |
| class | ChProfileSample |
| Simple way to profile a function's scope. More... | |
| class | ChRunningAverage |
| Moving average filter for smoothing running data. More... | |
| class | ChSampler |
| Base class for different types of point samplers. More... | |
| class | ChSocket |
| Base class for sockets. Sockets have at least an ID and a port. More... | |
| class | ChSocketCommunication |
| Class for socket communication interface. More... | |
| class | ChSocketFramework |
| A single object of this class must be instantiated before using all classes related to sockets, because it initializes some platform-specific settings. More... | |
| class | ChSocketHostInfo |
| Class for storing information about a TCP host in socket communication, e.g. with an IP address. More... | |
| class | ChSocketTCP |
| ChSocket for TCP communications. More... | |
| class | ChTSDAGeometry |
| Utility class defining visualization geometry for a TSDA. More... | |
| class | ChValidation |
| This class provides functionality for validation of simulation results. More... | |
| class | DegressiveDamperForce |
| Utility class for specifying a degressive translational damper force. More... | |
| class | LinearDamperForce |
| Utility class for specifying a linear translational damper force. More... | |
| class | LinearDamperTorque |
| Utility class for specifying a linear rotational damper torque. More... | |
| class | LinearSpringDamperForce |
| Utility class for specifying a linear translational spring-damper force with pre-tension. More... | |
| class | LinearSpringDamperTorque |
| Utility class for specifying a linear rotational spring-damper torque. More... | |
| class | LinearSpringForce |
| Utility class for specifying a linear translational spring force with pre-tension. More... | |
| class | LinearSpringTorque |
| Utility class for specifying a linear rotational spring torque. More... | |
| class | MapSpringDamperForce |
| Utility class for specifying a general nonlinear translational spring-damper force with pre-tension. More... | |
| class | NonlinearDamperForce |
| Utility class for specifying a nonlinear translational damper force. More... | |
| class | NonlinearDamperTorque |
| Utility class for specifying a nonlinear rotational damper torque. More... | |
| class | NonlinearSpringDamperForce |
| Utility class for specifying a nonlinear translational spring-damper force with pre-tension. More... | |
| class | NonlinearSpringDamperTorque |
| Utility class for specifying a nonlinear rotational spring-damper torque. More... | |
| class | NonlinearSpringForce |
| Utility class for specifying a nonlinear translational spring force with pre-tension. More... | |
| class | NonlinearSpringTorque |
| Utility class for specifying a nonlinear rotational spring torque. More... | |
| class | SpringForce |
| Base class for linear and nonlinear translational spring forces. More... | |
Typedefs | |
| typedef Types< double >::PointVector | PointVectorD |
| typedef Types< float >::PointVector | PointVectorF |
Enumerations | |
| enum | POVRayShapeType { SPHERE = 0, ELLIPSOID = 1, BOX = 2, CYLINDER = 3, CONVEXHULL = 4, TRIANGLEMESH = 5, BARREL = 6, CAPSULE = 7, CONE = 8, ROUNDEDBOX = 9, ROUNDEDCYL = 10, BEZIER = 11 } |
| enum | POVRayLinkType { REVOLUTE = 0, SPHERICAL = 1, PRISMATIC = 2, UNIVERSAL = 3, DISTANCE = 4, ENGINE = 5, SPRING = 6, TSDA = 7, CYLINDRICAL = 8, REV_SPH = 9 } |
| enum | POVRayLineType { SEGMENT = 0, COIL = 1 } |
| enum | hostType { NAME, ADDRESS } |
| enum | MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE } |
| Enumeration of various geometric shapes available for mixtures. | |
| enum | SamplingType { SamplingType::REGULAR_GRID, SamplingType::POISSON_DISK, SamplingType::HCP_PACK } |
| Volumetric sampling method. More... | |
Functions | |
| bool | WriteBodyShapesCheckpoint (ChSystem *system, const std::string &filename) |
| Create a CSV file with a checkpoint of bodies and collision shapes. More... | |
| void | ReadBodyShapesCheckpoint (ChSystem *system, const std::string &filename) |
| Read a CSV file with a checkpoint of bodies and collision shapes. More... | |
| void | WriteVisualizationAssets (ChSystem *system, const std::string &filename, bool body_info=true, const std::string &delim=",") |
| Write CSV output file with body and asset information for off-line visualization. More... | |
| void | WriteVisualizationAssets (ChSystem *system, const std::string &filename, std::function< bool(const ChBody &)> selector, bool body_info=true, const std::string &delim=",") |
| Write CSV output file with body and asset information for off-line visualization. More... | |
| void | WriteMeshPovray (ChTriangleMeshConnected &trimesh, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool smoothed=false) |
| Write the specified mesh as a macro in a PovRay include file. More... | |
| bool | WriteMeshPovray (const std::string &obj_filename, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0)) |
| Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file. More... | |
| void | WriteCurvePovray (const ChBezierCurve &curve, const std::string &curve_name, const std::string &out_dir, double radius=0.03, const ChColor &col=ChColor(0.8f, 0.8f, 0.2f)) |
| Write the specified Bezier curve as a macro in a PovRay include file. | |
| double | SignedArea (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3) |
| int | Orientation (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3) |
| bool | InBetween (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3) |
| void | Profile_Get_Ticks (unsigned long int *ticks) |
| float | Profile_Get_Tick_Rate (void) |
| std::ostream & | operator<< (std::ostream &io, ChSocket &s) |
| void | AddSphereGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a sphere collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddEllipsoidGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &axes, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddBoxGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &size, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a box collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddBiSphereGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double cDist, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddCapsuleGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a capsule shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, const ChVector3d &p1, const ChVector3d &p2, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddConeGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a cone shape and optionally a corresponding visualization asset to the specified body. More... | |
| bool | AddTriangleMeshGeometry (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| bool | AddTriangleMeshConvexDecomposition (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body. | |
| bool | AddTriangleMeshConvexDecompositionV2 (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body. | |
| bool | AddTriangleMeshConvexDecompositionSplit (ChSystem *system, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos, const ChQuaterniond &rot, double total_mass) |
| Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body. | |
| void | AddTriangleGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &vertA, const ChVector3d &vertB, const ChVector3d &vertC, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a triangle collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddRoundedBoxGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &size, double srad, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddRoundedCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, double srad, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body. More... | |
| void | AddTorusGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double thickness, int segments=20, int angle=360, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body. | |
| void | AddBoxContainer (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, const ChFrame<> &frame, const ChVector3d &size, double thickness, const ChVector3i faces, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add collision shapes representing a box container of specified dimensions to the given body. More... | |
| std::shared_ptr< ChBody > | CreateBoxContainer (ChSystem *system, ChContactMaterialSharedPtr mat, const ChVector3d &size, double thickness, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool wireframe=false) |
| Create a fixed body with collision and visualization geometry representing a box volume. More... | |
| std::shared_ptr< ChBody > | CreateCylindricalContainerFromBoxes (ChSystem *system, ChContactMaterialSharedPtr mat, double radius, double height, double thickness, int numBoxes, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true) |
| Create a fixed body with collision and visualization representing a cylindrical volume. More... | |
| bool | LoadConvexMesh (const std::string &file_name, ChTriangleMeshConnected &convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), int hacd_maxhullcount=1024, int hacd_maxhullmerge=256, int hacd_maxhullvertexes=64, float hacd_concavity=0.01f, float hacd_smallclusterthreshold=0.0f, float hacd_fusetolerance=1e-6f) |
| Load an object from a Wavefront OBJ file and generate its convex decomposition. | |
| bool | LoadConvexHulls (const std::string &file_name, ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector3d >> &convex_hulls) |
| Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls. More... | |
| void | AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Given a convex mesh and its decomposition add it to a ChBody use_original_asset can be used to specify if the mesh or the convex decomp should be used for visualization. | |
| void | AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector3d >> &convex_hulls, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default()) |
| Add a convex mesh to an object based on a set of points. More... | |
| bool | LineLineIntersect (const ChVector3d &p1, const ChVector3d &p2, const ChVector3d &p3, const ChVector3d &p4, ChVector3d *pa, ChVector3d *pb, double *mua, double *mub) |
| Calculate the line segment PaPb that is the shortest route between two lines P1P2 and P3P4. More... | |
| double | PointLineDistance (const ChVector3d &B, const ChVector3d &A1, const ChVector3d &A2, double &u, bool &in_segment) |
| Calculate distance between a point B and the segment (A1,A2). More... | |
| double | PointTriangleDistance (const ChVector3d &B, const ChVector3d &A1, const ChVector3d &A2, const ChVector3d &A3, double &u, double &v, bool &in_triangle, ChVector3d &Bprojected) |
| Calculate distance of a point from a triangle surface. More... | |
| bool | DegenerateTriangle (const ChVector3d &Dx, const ChVector3d &Dy) |
| Check if the triangle defined by the two given vectors is degenerate. | |
| bool | DegenerateTriangle (const ChVector3d &v1, const ChVector3d &v2, const ChVector3d &v3) |
| Check if the triangle defined by the three given vertices is degenerate. | |
| std::default_random_engine & | rengine () |
| template<typename T > | |
| T | sampleTruncatedDist (std::normal_distribution< T > &distribution, T minVal, T maxVal) |
| template<typename T > | |
| std::vector< ChVector3< T > > | ChPDLayerSamplerBox (ChVector3< T > center, ChVector3< T > hdims, T diam, T padding_factor=1.02, bool verbose=false) |
| Poisson Disk sampler for sampling a 3D box in layers. More... | |
| void | SetValidationDataPath (const std::string &path) |
| Set the path to the reference validation data directory. More... | |
| const std::string & | GetValidationDataPath () |
| Obtain the current path to the reference validation data directory. More... | |
| std::string | GetValidationDataFile (const std::string &filename) |
| Obtain the complete path to the specified filename. More... | |
Function Documentation
◆ GetValidationDataFile()
| ChApi std::string chrono::utils::GetValidationDataFile | ( | const std::string & | filename | ) |
Obtain the complete path to the specified filename.
The given filename is assumed to be relative to the reference validation data directory. (thread safe)
◆ GetValidationDataPath()
| const ChApi std::string & chrono::utils::GetValidationDataPath | ( | ) |
Obtain the current path to the reference validation data directory.
(thread safe)
◆ SetValidationDataPath()
| ChApi void chrono::utils::SetValidationDataPath | ( | const std::string & | path | ) |
Set the path to the reference validation data directory.
(ATTENTION: not thread safe)
