Description

Wrapper class for ChWheeledVehicles.

Functions here are related to initializing this as a zombie (setting visual representations, # of wheels)

#include <SynWheeledVehicle.h>

Inheritance diagram for chrono::synchrono::SynWheeledVehicle:

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Collaboration diagram for chrono::synchrono::SynWheeledVehicle:

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Public Member Functions
	SynWheeledVehicle ()
	Default constructor for a SynWheeledVehicle.

	SynWheeledVehicle (vehicle::ChWheeledVehicle *wheeled_vehicle)
	Constructor for a SynWheeledVehicle where a vehicle pointer is passed In this case, the system is assumed to have been created by the vehicle, so the system will subsequently not be advanced or destroyed. More...

	SynWheeledVehicle (const ChCoordsys<> &coord_sys, const std::string &filename, ChContactMethod contact_method)
	Constructor for a wheeled vehicle specified through json and a contact method This constructor will create it's own system. More...

	SynWheeledVehicle (const ChCoordsys<> &coord_sys, const std::string &filename, ChSystem *system)
	Constructor for a wheeled vehicle specified through json and a contact method This vehicle will use the passed system and not create its own. More...

	SynWheeledVehicle (const std::string &filename)
	Construct a zombie SynWheeledVehicle from a json specification file. More...

virtual	~SynWheeledVehicle ()
	Destructor for a SynWheeledVehicle.

virtual void	InitializeZombie (ChSystem *system) override
	Initialize the zombie representation of the vehicle. More...

virtual void	SynchronizeZombie (SynMessage *message) override
	Synchronize the position and orientation of this vehicle with other ranks. More...

virtual void	Update () override
	Update the current state of this vehicle.

void	SetZombieVisualizationFiles (std::string chassis_vis_file, std::string wheel_vis_file, std::string tire_vis_file)
	Set the zombie visualization files. More...

void	SetNumWheels (int num_wheels)
	Set the number of wheels of the underlying vehicle. More...

void	Synchronize (double time, const vehicle::ChDriver::Inputs &driver_inputs, const vehicle::ChTerrain &terrain)
	Update the state of this vehicle at the current time. More...

virtual vehicle::ChVehicle &	GetVehicle () override
	Get the underlying vehicle. More...

Public Member Functions inherited from chrono::synchrono::SynVehicle
	SynVehicle (bool is_zombie=true)
	Default constructor for a SynVehicle. More...

	SynVehicle (const std::string &filename, ChContactMethod contact_method)
	Constructor for vehicles specified through json and a contact method This constructor will create it's own system. More...

	SynVehicle (const std::string &filename, ChSystem *system)
	Constructor for vehicles specified through json and a contact method This vehicle will use the passed system and not create its own. More...

	SynVehicle (const std::string &filename)
	Constructor for zombie vehicles specified through json. More...

virtual	~SynVehicle ()
	Destroy the SynVehicle object.

bool	IsZombie ()
	Get whether this vehicle is a zombie. More...

virtual void	Advance (double step)
	Advance the state of this vehicle by the time amount specified If the system is not owned by this vehicle, this method should be overriden. More...

ChSystem *	GetSystem ()
	Get the ChSystem. More...

Protected Member Functions
virtual rapidjson::Document	ParseVehicleFileJSON (const std::string &filename) override
	Parse a JSON specification file that describes a vehicle. More...

virtual void	CreateVehicle (const ChCoordsys<> &coord_sys, const std::string &filename, ChSystem *system) override
	Helper method for creating a vehicle from a json specification file. More...

Protected Member Functions inherited from chrono::synchrono::SynVehicle
virtual void	CreateZombie (const std::string &filename)
	Construct a zombie from a json specification file. More...

std::shared_ptr< ChTriangleMeshShape >	CreateMeshZombieComponent (const std::string &filename)
	Helper method used to create a ChTriangleMeshShape to be used on as a zombie body. More...

void	CreateChassisZombieBody (const std::string &filename, ChSystem *system)
	Create a zombie chassis body. More...

Friends
class	SynWheeledVehicleAgent

Additional Inherited Members
Protected Attributes inherited from chrono::synchrono::SynVehicle
bool	m_is_zombie
	is this vehicle a zombie

bool	m_owns_vehicle
	has the vehicle been created by this object or passed by user

ChSystem *	m_system
	pointer to the chrono system

std::shared_ptr< ChBodyAuxRef >	m_zombie_body
	agent's zombie body reference

Constructor & Destructor Documentation

◆ SynWheeledVehicle() [1/4]

chrono::synchrono::SynWheeledVehicle::SynWheeledVehicle ( vehicle::ChWheeledVehicle * wheeled_vehicle )

Constructor for a SynWheeledVehicle where a vehicle pointer is passed In this case, the system is assumed to have been created by the vehicle, so the system will subsequently not be advanced or destroyed.

Parameters

wheeled_vehicle the vehicle to wrap

◆ SynWheeledVehicle() [2/4]

chrono::synchrono::SynWheeledVehicle::SynWheeledVehicle	(	const ChCoordsys<> &	coord_sys,
		const std::string &	filename,
		ChContactMethod	contact_method
	)

Constructor for a wheeled vehicle specified through json and a contact method This constructor will create it's own system.

Parameters

coord_sys	the initial position and orientation of the vehicle
filename	the json specification file to build the vehicle from
contact_method	the contact method used for the Chrono dynamics

◆ SynWheeledVehicle() [3/4]

chrono::synchrono::SynWheeledVehicle::SynWheeledVehicle	(	const ChCoordsys<> &	coord_sys,
		const std::string &	filename,
		ChSystem *	system
	)

Constructor for a wheeled vehicle specified through json and a contact method This vehicle will use the passed system and not create its own.

Parameters

coord_sys	the initial position and orientation of the vehicle
filename	the json specification file to build the vehicle from
system	the system to be used for Chrono dynamics and to add bodies to

◆ SynWheeledVehicle() [4/4]

chrono::synchrono::SynWheeledVehicle::SynWheeledVehicle ( const std::string & filename )

Construct a zombie SynWheeledVehicle from a json specification file.

Parameters

filename the json specification file to build the zombie from

Member Function Documentation

◆ CreateVehicle()

void chrono::synchrono::SynWheeledVehicle::CreateVehicle	(	const ChCoordsys<> &	coord_sys,
		const std::string &	filename,
		ChSystem *	system
	)

overrideprotectedvirtual

Helper method for creating a vehicle from a json specification file.

Parameters

coord_sys	the initial position and orientation of the vehicle
filename	the json specification file
system	a ChSystem to be used when constructing a vehicle

Implements chrono::synchrono::SynVehicle.

◆ GetVehicle()

virtual vehicle::ChVehicle& chrono::synchrono::SynWheeledVehicle::GetVehicle ( )

inlineoverridevirtual

Get the underlying vehicle.

Returns: ChVehicle&

Implements chrono::synchrono::SynVehicle.

◆ InitializeZombie()

void chrono::synchrono::SynWheeledVehicle::InitializeZombie ( ChSystem * system )

overridevirtual

Initialize the zombie representation of the vehicle.

Will create and add bodies that are visual representation of the vehicle. The position and orientation is updated by SynChrono and the passed messages

Parameters

system the system used to add bodies to for consistent visualization

Implements chrono::synchrono::SynVehicle.

◆ ParseVehicleFileJSON()

rapidjson::Document chrono::synchrono::SynWheeledVehicle::ParseVehicleFileJSON ( const std::string & filename )

overrideprotectedvirtual

Parse a JSON specification file that describes a vehicle.

Parameters

filename the json specification file

Reimplemented from chrono::synchrono::SynVehicle.

◆ SetNumWheels()

void chrono::synchrono::SynWheeledVehicle::SetNumWheels ( int num_wheels )

inline

Set the number of wheels of the underlying vehicle.

Parameters

num_wheels number of wheels of the underlying vehicle

◆ SetZombieVisualizationFiles()

void chrono::synchrono::SynWheeledVehicle::SetZombieVisualizationFiles	(	std::string	chassis_vis_file,
		std::string	wheel_vis_file,
		std::string	tire_vis_file
	)

Set the zombie visualization files.

Parameters

chassis_vis_file	the file used for chassis visualization
wheel_vis_file	the file used for wheel visualization
tire_vis_file	the file used for tire visualization

◆ Synchronize()

void chrono::synchrono::SynWheeledVehicle::Synchronize	(	double	time,
		const vehicle::ChDriver::Inputs &	driver_inputs,
		const vehicle::ChTerrain &	terrain
	)

Update the state of this vehicle at the current time.

Parameters

time	the time to synchronize to
driver_inputs	the driver inputs (i.e. throttle, braking, steering)
terrain	reference to the terrain the vehicle should contact

◆ SynchronizeZombie()

void chrono::synchrono::SynWheeledVehicle::SynchronizeZombie ( SynMessage * message )

overridevirtual

Synchronize the position and orientation of this vehicle with other ranks.

Any message can be passed, so a check should be done to ensure this message was intended for this agent

Parameters

message the received message that describes the position and orientation

Implements chrono::synchrono::SynVehicle.

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

/builds/uwsbel/chrono/src/chrono_synchrono/vehicle/SynWheeledVehicle.h
/builds/uwsbel/chrono/src/chrono_synchrono/vehicle/SynWheeledVehicle.cpp

Description

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ SynWheeledVehicle() [1/4]

◆ SynWheeledVehicle() [2/4]

◆ SynWheeledVehicle() [3/4]

◆ SynWheeledVehicle() [4/4]

Member Function Documentation

◆ CreateVehicle()

◆ GetVehicle()

◆ InitializeZombie()

◆ ParseVehicleFileJSON()

◆ SetNumWheels()

◆ SetZombieVisualizationFiles()

◆ Synchronize()

◆ SynchronizeZombie()