chrono::vehicle::ChVehicleCosimTireNodeRigid Class Reference
Description
Definition of the rigid tire node.
#include <ChVehicleCosimTireNodeRigid.h>
Inheritance diagram for chrono::vehicle::ChVehicleCosimTireNodeRigid:
Collaboration diagram for chrono::vehicle::ChVehicleCosimTireNodeRigid:
Public Member Functions | |
ChVehicleCosimTireNodeRigid (int index) | |
virtual TireType | GetTireType () const override |
Return the tire type. | |
virtual void | Advance (double step_size) override final |
Advance simulation. More... | |
Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTireNode | |
virtual NodeType | GetNodeType () const override final |
Return the node type as NodeType::TIRE. | |
void | SetTireFromSpecfile (const std::string &filename) |
Specify the tire JSON specification file name. | |
void | EnableTirePressure (bool val) |
Enable/disable tire pressure (default: true). | |
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... | |
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 | 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::ChVehicleCosimTireNode | |
enum | TireType { TireType::RIGID, TireType::FLEXIBLE, TireType::BYPASS, TireType::UNKNOWN } |
Tire type. 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::ChVehicleCosimTireNode | |
static std::string | GetTireTypeAsString (TireType type) |
Return a string describing the tire type. | |
static TireType | GetTireTypeFromString (const std::string &type) |
Infer the tire type from the given string. | |
static bool | ReadSpecfile (const std::string &specfile, rapidjson::Document &d) |
Read a JSON specification file for a tire. | |
static TireType | GetTireTypeFromSpecfile (const std::string &specfile) |
Get the tire type 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 Member Functions inherited from chrono::vehicle::ChVehicleCosimTireNode | |
ChVehicleCosimTireNode (int index) | |
virtual void | LoadSpindleForce (TerrainForce &spindle_force) |
Load current spindle force. More... | |
virtual void | LoadMeshState (MeshState &mesh_state) |
Load current tire mesh state. More... | |
virtual void | ApplyMeshForces (const MeshContact &mesh_contact) |
Apply the mesh contact forces. 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::ChVehicleCosimTireNode | |
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::string | m_tire_json |
name of tire JSON specification file | |
bool | m_tire_pressure |
tire pressure enabled? | |
int | m_index |
index of the tire | |
std::shared_ptr< ChBody > | m_spindle |
spindle body | |
std::shared_ptr< ChWheel > | m_wheel |
wheel subsystem (to which a tire is attached) | |
ChVehicleGeometry | m_geometry |
tire geometry and contact material | |
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
◆ Advance()
|
inlinefinaloverridevirtual |
Advance simulation.
A rigid tire node need not advance dynamics.
Implements chrono::vehicle::ChVehicleCosimBaseNode.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/tire/ChVehicleCosimTireNodeRigid.h
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/tire/ChVehicleCosimTireNodeRigid.cpp