Description

Chrono core utilities.

Classes
class	ChAbsorbed_Power_Vertical
	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	ChButterworth_Highpass
	Butterworth high-pass filter. More...

class	ChButterworth_Lowpass
	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	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	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	ChMovingAverage
	Moving average filter for smoothing a data array. More...

class	ChParserAdams
	ADAMS input file parser. More...

class	ChParserOpenSim
	OpenSim input file parser. 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	ChRunningAverage
	Moving average filter for smoothing running data. More...

class	ChValidation
	This class provides functionality for validation of simulation results. More...

class	CompositeInertia
	Utility class for calculating inertia properties of a composite body. More...

class	CProfileSample
	ProfileSampleClass is a simple way to profile a function's scope Use the BT_PROFILE macro at the start of scope to time. More...

class	Generator
	Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More...

class	GridSampler
	Sampler for 3D volumes using a regular (equidistant) grid. More...

class	HCPSampler
	Sampler for 3D volumes using a Hexagonally Close Packed structure. More...

class	MixtureIngredient
	Encapsulation of an ingredient of one of the supported types in a mixture. More...

class	PDGrid
	Simple 3D grid utility class for use by the Poisson Disk sampler. More...

class	PDSampler
	Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More...

class	Sampler
	Base class for different types of point samplers. More...

Typedefs
typedef Types< double >::PointVector	PointVectorD

typedef Types< float >::PointVector	PointVectorF

typedef std::vector< std::string >	Headers
	Vector of data file headers.

typedef std::valarray< double >	DataVector
	Vector of data points.

typedef std::vector< DataVector >	Data
	Data table.

Enumerations
enum	MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE, BISPHERE, ROUNDEDCYLINDER }
	Enumeration of various geometric shapes available for mixtures.

enum	POVRayShapeType { SPHERE = 0, SPHERE, ELLIPSOID = 1, ELLIPSOID, BOX = 2, BOX, CYLINDER = 3, CYLINDER, CONVEXHULL = 4, TRIANGLEMESH = 5, BARREL = 6, CAPSULE = 7, CAPSULE, CONE = 8, CONE, ROUNDEDBOX = 9, ROUNDEDCYL = 10, ROUNDEDCONE = 11, BEZIER = 12 }

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	SamplingType { SamplingType::REGULAR_GRID, SamplingType::POISSON_DISK, SamplingType::HCP_PACK }
	Volumetric sampling method. More...

enum	ChNormType { L2_NORM, RMS_NORM, INF_NORM }
	Norm types for validation.

Functions
double	SignedArea (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)

int	Orientation (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)

bool	InBetween (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)

void	tokenParseError (int expected, std::pair< int, std::string > &got)

void	parseADMPart (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)

void	parseADMJoint (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)

void	parseADMMarker (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)

ChQuaternion	Q_from_313_angles (double q1, double q2, double q3)

void	Profile_Get_Ticks (unsigned long int *ticks)

float	Profile_Get_Tick_Rate (void)

void	AddSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a sphere collision shape and optionally a corresponding visualization asset to the specified body.

void	AddEllipsoidGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body.

void	AddBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box collision shape and optionally a corresponding visualization asset to the specified body.

void	AddBiSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body.

void	AddCapsuleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box capsule shape and optionally a corresponding visualization asset to the specified body.

void	AddCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box cylinder shape and optionally a corresponding visualization asset to the specified body.

void	AddConeGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box cone shape and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshConvexDecomposition (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshConvexDecompositionV2 (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshConvexDecompositionSplit (ChSystem *system, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos, const ChQuaternion<> &rot, double total_mass)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

void	AddTriangleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &vertA, const ChVector<> &vertB, const ChVector<> &vertC, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a triangle collision shape and optionally a corresponding visualization asset to the specified body.

void	AddRoundedBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body.

void	AddRoundedCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body.

void	AddTorusGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double thickness, int segments=20, int angle=360, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body.

std::shared_ptr< ChBody >	CreateBoxContainer (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool y_up=false, bool overlap=true, bool closed=false)
	Create a fixed body with contact and asset geometry representing a box with 5 walls (no top).

std::shared_ptr< ChBody >	CreateCylindricalContainerFromBoxes (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, int numBoxes, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true)
	Create a cylindrical container body with contact and asset geometry representing a cylindrical container modeled with boxes. More...

bool	LoadConvexMesh (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(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, geometry::ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector< double >>> &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, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos, const ChQuaternion<> &rot, bool use_original_asset)

void	AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos, const ChQuaternion<> &rot)

ChApi void	AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
	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.

ChApi void	AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
	Add a convex mesh to an object based on a set of points. More...

double	CalcSphereBradius (double radius)

double	CalcEllipsoidBradius (const ChVector<> &hdims)

double	CalcBoxBradius (const ChVector<> &hdims)

double	CalcCapsuleBradius (double radius, double hlen)

double	CalcCylinderBradius (double radius, double hlen)

double	CalcConeBradius (double radius, double hlen)

double	CalcRoundedCylinderBradius (double radius, double hlen, double srad)

double	CalcRoundedBoxBradius (const ChVector<> &hdims, double srad)

double	CalcTorusBradius (double radius, double thickness)

double	CalcSphereVolume (double radius)

double	CalcEllipsoidVolume (const ChVector<> &hdims)

double	CalcBoxVolume (const ChVector<> &hdims)

double	CalcBiSphereVolume (double radius, double cDist)

double	CalcCapsuleVolume (double radius, double hlen)

double	CalcCylinderVolume (double radius, double hlen)

double	CalcConeVolume (double radius, double len)

double	CalcRoundedCylinderVolume (double radius, double hlen, double srad)

double	CalcRoundedBoxVolume (const ChVector<> &hdims, double srad)

double	CalcTorusVolume (double radius, double thickness)

void	TransformGyration (ChMatrix33<> &J, const ChVector<> &pos, const ChQuaternion<> &rot)

ChMatrix33	CalcSphereGyration (double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcEllipsoidGyration (const ChVector<> &hdims, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcBoxGyration (const ChVector<> &hdims, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcBiSphereGyration (double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcCapsuleGyration (double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcCylinderGyration (double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcConeGyration (double radius, double len, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcRoundedCylinderGyration (double radius, double hlen, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcRoundedBoxGyration (const ChVector<> &hdims, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

ChMatrix33	CalcTorusGyration (double radius, double thickness, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))

void	WriteBodies (ChSystem *system, const std::string &filename, bool active_only=false, bool dump_vel=false, const std::string &delim=",")
	This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity. More...

bool	WriteCheckpoint (ChSystem *system, const std::string &filename)
	Create a CSV file with a checkpoint.

void	ReadCheckpoint (ChSystem *system, const std::string &filename)
	Read a CSV file with a checkpoint.

void	WriteCamera (const std::string &filename, const ChVector<> &cam_location, const ChVector<> &cam_target, const ChVector<> &camera_upvec, const std::string &delim=",")
	Write CSV output file with camera information for off-line visualization. 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 (geometry::ChTriangleMeshConnected &trimesh, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector<> &pos=ChVector<>(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 ChVector<> &pos=ChVector<>(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.

template<typename T >
CSV_writer &	operator<< (CSV_writer &out, const ChVector< T > &v)

template<typename T >
CSV_writer &	operator<< (CSV_writer &out, const ChQuaternion< T > &q)

CSV_writer &	operator<< (CSV_writer &out, const ChColor &c)

template<typename T >
CSV_writer &	operator<< (CSV_writer &out, const std::vector< T > &vec)

std::default_random_engine &	rengine ()

template<typename T >
T	sampleTruncatedDist (std::normal_distribution< T > &distribution, T minVal, T maxVal)

template<typename T >
std::vector< ChVector< T > >	PDLayerSampler_BOX (ChVector< T > center, ChVector< T > hdims, T diam, T padding_factor=1.02, bool verbose=false)
	Poisson Disk sampler for sampling a 3D box in layers. More...

bool	Validate (const std::string &sim_filename, const std::string &ref_filename, ChNormType norm_type, double tolerance, DataVector &norms)
	Compare the data in the two specified files. More...

ChApi bool	Validate (const Data &sim_data, const Data &ref_data, ChNormType norm_type, double tolerance, DataVector &norms)
	Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance. More...

bool	Validate (const std::string &sim_filename, ChNormType norm_type, double tolerance, DataVector &norms)
	Validation of a constraint violation data file. More...

ChApi bool	Validate (const Data &sim_data, ChNormType norm_type, double tolerance, DataVector &norms)
	Validation of a constraint violation data structure. 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...

Variables
std::map< std::string, adams_part_struct >	parts_map

std::map< std::string, adams_joint_struct >	joints_map

std::map< std::string, adams_marker_struct >	markers_map

std::vector< std::vector< std::pair< int, std::string > > >	graphics_token_list

template<class T >
constexpr T	Pi = T(3.1415926535897932385L)

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)

◆ Validate() [1/4]

ChApi bool chrono::utils::Validate	(	const Data &	sim_data,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Validation of a constraint violation data structure.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise.

◆ Validate() [2/4]

ChApi bool chrono::utils::Validate	(	const Data &	sim_data,
		const Data &	ref_data,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance.

The function returns true if the norms of all column differences are below the given tolerance and false otherwise.

◆ Validate() [3/4]

ChApi bool chrono::utils::Validate	(	const std::string &	sim_filename,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Validation of a constraint violation data file.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise. It is assumed that the input file is TAB-delimited.

◆ Validate() [4/4]

ChApi bool chrono::utils::Validate	(	const std::string &	sim_filename,
		const std::string &	ref_filename,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Compare the data in the two specified files.

The comparison is done using the specified norm type and tolerance. The function returns true if the norms of all column differences are below the given tolerance and false otherwise. It is assumed that the input files are TAB-delimited.

◆ WriteBodies()

ChApi void chrono::utils::WriteBodies	(	ChSystem *	system,
		const std::string &	filename,
		bool	active_only = `false`,
		bool	dump_vel = `false`,
		const std::string &	delim = `","`
	)

This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity.

Optionally, only active bodies are processed.

◆ WriteCamera()

ChApi void chrono::utils::WriteCamera	(	const std::string &	filename,
		const ChVector<> &	cam_location,
		const ChVector<> &	cam_target,
		const ChVector<> &	camera_upvec,
		const std::string &	delim = `","`
	)

Write CSV output file with camera information for off-line visualization.

The output file includes three vectors, one per line, for camera position, camera target (look-at point), and camera up vector, respectively.

◆ WriteMeshPovray() [1/2]

ChApi bool chrono::utils::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 ChVector<> &	pos = `ChVector<>(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.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteMeshPovray() [2/2]

ChApi void chrono::utils::WriteMeshPovray	(	geometry::ChTriangleMeshConnected &	trimesh,
		const std::string &	mesh_name,
		const std::string &	out_dir,
		const ChColor &	color = `ChColor(0.4f, 0.4f, 0.4f)`,
		const ChVector<> &	pos = `ChVector<>(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.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteVisualizationAssets() [1/2]

ChApi void chrono::utils::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.

(1) The first line of the output file contains:

the number of bodies (0 if no body information is included below)
the number of visual assets
the number of links
the number of TSDA spring-dampers (2) If the number of bodies is not zero, the next block of lines includes information about the rigid bodies. Each line contains 9 values:
the body identifier
a flag (1 or 0) indicating whether the body is active or not
the body position expressed in global frame
the body orientation (as a quaternion, expressed in global frame) (3) The next block of lines includes information about the visual assets. Each line contains:
the identifier of the associated body
a flag (1 or 0) indicating whether the body is active or not
the asset position expresssed in global frame
the asset orientation (as a quaternion, expressed in global frame)
the visualization asset type (an enum value)
geometry information depending on the type above (4) The next block of lines includes information about the joints. Each line contains:
the joint type (an enum value)
joint position and orientation information depending on the type above (5) The next block of lines includes information about TSDA elements. Each line contains:
the type of visual asset (0 for segment or 1 for coil)
start point position
end point position

Parameters

system	containg system
filename	output file name
body_info	include body state information
delim	CSV delimitator

◆ WriteVisualizationAssets() [2/2]

ChApi void chrono::utils::WriteVisualizationAssets	(	ChSystem *	system,
		const std::string &	filename,
		std::function< bool(const ChBody &)>	selector,
		bool	body_info = `true`,
		const std::string &	delim = `","`
	)