chrono::vehicle::ChVehicleCosimTerrainNodeRigid Class Reference
Description
Definition of the rigid terrain node (using Chrono::Multicore).
#include <ChVehicleCosimTerrainNodeRigid.h>
Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeRigid:
Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeRigid:
Public Member Functions | |
| ChVehicleCosimTerrainNodeRigid (double length, double width, ChContactMethod method) | |
| Create a rigid terrain node using the specified contact method (SMC or NSC). | |
| ChVehicleCosimTerrainNodeRigid (ChContactMethod method, const std::string &specfile) | |
| Create a rigid terrain node using the specified contact method (SMC or NSC) and set parameters from the provided JSON specfile. | |
| virtual ChSystem * | GetSystem () override |
| Return a pointer to the underlying Chrono system. | |
| void | SetFromSpecfile (const std::string &specfile) |
| Set full terrain specification from JSON specfile. | |
| void | SetMaterialSurface (const std::shared_ptr< ChMaterialSurface > &mat) |
| Set the material properties for terrain. More... | |
| void | UseMaterialProperties (bool flag) |
| Specify whether contact coefficients are based on material properties (default: true). More... | |
| void | SetContactForceModel (ChSystemSMC::ContactForceModel model) |
| Set the normal contact force model (default: Hertz) Note that this setting is only relevant when using the SMC method. | |
| void | SetProxyContactRadius (double radius) |
| Set proxy contact radius (default: 0.01). More... | |
| virtual void | OutputVisualizationData (int frame) override final |
| Output post-processing visualization data. | |
 Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono | |
| Type | GetType () const |
| Return the type of this terrain node. | |
| void | SetProxyFixed (bool fixed) |
| Set the proxy bodies as fixed to ground. | |
| virtual double | GetInitHeight () const override final |
| Return the terrain initial height. | |
| void | AddRigidObstacle (const RigidObstacle &obstacle) |
| Add a rigid obstacle. | |
| Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode | |
| virtual NodeType | GetNodeType () const override |
| Return the node type as NodeType::TERRAIN. | |
| void | EnableRuntimeVisualization (bool render, double render_fps=100) |
| Enable/disable run-time visualization (default: false). More... | |
| void | SetDimensions (double length, double width) |
| Set the terrain patch dimensions. More... | |
| 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. | |
| 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). | |
| 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 | 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::ChVehicleCosimTerrainNodeChrono | |
| enum | Type { Type::RIGID, Type::SCM, Type::GRANULAR_OMP, Type::GRANULAR_GPU, Type::GRANULAR_MPI, Type::GRANULAR_SPH, Type::UNKNOWN } |
| Type of Chrono terrain. More... | |
| 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 tire-terrain communication interface. More... | |
| Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono | |
| static std::string | GetTypeAsString (Type type) |
| Return a string describing the type of this terrain node. | |
| static Type | GetTypeFromString (const std::string &type) |
| Infer the terrain node type from the given string. | |
| static bool | ReadSpecfile (const std::string &specfile, rapidjson::Document &d) |
| Read a JSON specification file for a Chrono terrain node. | |
| static Type | GetTypeFromSpecfile (const std::string &specfile) |
| Get the terrain type from the given JSON specification file. | |
| static ChVector2 | GetSizeFromSpecfile (const std::string &specfile) |
| Get the terrain dimensions (length and width) from the given JSON specification file. | |
| 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 Types inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono | |
| typedef std::vector< ProxyBody > | Proxies |
| Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono | |
| ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method) | |
| Construct a base class terrain node. More... | |
| virtual void | OnInitialize (unsigned int num_objects) override |
| Initialize this Chrono terrain node. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode | |
| ChVehicleCosimTerrainNode (double length, double width) | |
| Construct a terrain node to wrap a terrain patch of given length and width. | |
| virtual void | OnSynchronize (int step_number, double time) |
| Perform any additional operations after the data exchange and synchronization with the MBS node. More... | |
| virtual void | OnOutputData (int frame) |
| Perform additional output at the specified frame (called from within OutputData). | |
| virtual void | UpdateMeshProxy (unsigned int i, MeshState &mesh_state) |
| Update the state of the i-th proxy mesh. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode | |
| ChVehicleCosimBaseNode (const std::string &name) | |
| void | SendGeometry (const ChVehicleGeometry &geom, int dest) const |
| void | RecvGeometry (ChVehicleGeometry &geom, int source) const |
| Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono | |
| Type | m_type |
| terrain type | |
| ChContactMethod | m_method |
| contact method (SMC or NSC) | |
| std::shared_ptr< ChMaterialSurface > | m_material_terrain |
| material properties for terrain bodies | |
| double | m_init_height |
| terrain initial height | |
| std::vector< Proxies > | m_proxies |
| proxy bodies for each object | |
| bool | m_fixed_proxies |
| are proxy bodies fixed to ground? | |
| std::vector< RigidObstacle > | m_obstacles |
| list of rigid obstacles | |
| Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNode | |
| bool | m_render |
| if true, perform run-time rendering | |
| double | m_render_step |
| time step between rendered frames | |
| double | m_hdimX |
| patch half-length (X direction) | |
| double | m_hdimY |
| patch half-width (Y direction) | |
| bool | m_wheeled |
| comm node (true: TIRE nodes, false: tracked MBS node) | |
| InterfaceType | m_interface_type |
| communication interface (body or mesh) | |
| int | m_num_objects |
| number of interacting objects | |
| std::vector< ChVehicleGeometry::AABB > | m_aabb |
| AABB of collision models for interacting objects. | |
| std::vector< ChVehicleGeometry > | m_geometry |
| contact geometry and materials for interacting objects | |
| std::vector< double > | m_load_mass |
| vertical load on interacting objects | |
| std::vector< int > | m_obj_map |
| mapping from interacting object to shape | |
| std::vector< MeshState > | m_mesh_state |
| mesh state (used for MESH communication) | |
| std::vector< BodyState > | m_rigid_state |
| rigid state (used for BODY communication interface) | |
| std::vector< MeshContact > | m_mesh_contact |
| mesh contact forces (used for MESH communication interface) | |
| std::vector< TerrainForce > | m_rigid_contact |
| rigid contact force (used for BODY communication interface) | |
| 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 | |
| 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< double > | 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 |
Member Function Documentation
◆ SetMaterialSurface()
| void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::SetMaterialSurface | ( | const std::shared_ptr< ChMaterialSurface > & | mat | ) |
Set the material properties for terrain.
The type of material must be consistent with the contact method (SMC or NSC) specified at construction. These parameters characterize the material for the container and (if applicable) the granular material. Object contact material is received from the rig node.
◆ SetProxyContactRadius()
|
inline |
Set proxy contact radius (default: 0.01).
When using a rigid object mesh, this is a "thickness" for the collision mesh (a non-zero value can improve robustness of the collision detection algorithm). When using a flexible object, this is the radius of the proxy spheres attached to each FEA mesh node.
◆ UseMaterialProperties()
| void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::UseMaterialProperties | ( | bool | flag | ) |
Specify whether contact coefficients are based on material properties (default: true).
Note that this setting is only relevant when using the SMC method.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeRigid.h
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeRigid.cpp
