Utility classes
Description
Collaboration diagram for Utility classes:
Classes | |
| class | chrono::utils::ChConvexHull2D |
| Simple 2D convex hull class. More... | |
| class | chrono::utils::ChRunningAverage |
| Moving average filter for smoothing running data. More... | |
| class | chrono::utils::ChMovingAverage |
| Moving average filter for smoothing a data array. More... | |
| class | chrono::utils::ChAnalogueFilter |
| Base class for simulated analogue filters in the time domain. More... | |
| class | chrono::utils::ChFilterI |
| Calculate the integral of an input signal in the time domain: H(s) = 1 / ( Ti * s) More... | |
| class | chrono::utils::ChFilterD |
| Caclulate the time derivation of an input signal: H(s) = Td * s. More... | |
| class | chrono::utils::ChFilterPT1 |
| Delay an input signal: H(s) = Kpt1 / ( T1 * s + 1 ) More... | |
| class | chrono::utils::ChFilterPD1 |
| PD1 controller: H(s) = Kdt1 * ( Td1 * s + 1 ) More... | |
| class | chrono::utils::ChFilterPDT1 |
| PDT1 controller: H(s) = Kp * ( Td1 * s + 1 ) / ( T1 * s + 1) More... | |
| class | chrono::utils::ChButterworth_Lowpass |
| Butterworth low-pass filter. More... | |
| class | chrono::utils::ChButterworth_Highpass |
| Butterworth high-pass filter. More... | |
| class | chrono::utils::ChAbsorbed_Power_Vertical |
| Filter for vertical absorbed power. More... | |
| class | chrono::utils::ChISO2631_1_Wk |
| Combined filter Wk. More... | |
| class | chrono::utils::ChISO2631_1_Wd |
| Combined filter Wd. More... | |
| class | chrono::utils::ChISO2631_1_Wf |
| Combined filter Wf. More... | |
| class | chrono::utils::ChISO2631_5_Wxy |
| ISO2631-5 weighting filter for shock like signal in horizontal direction. More... | |
| class | chrono::utils::ChISO2631_5_Wz |
| ISO2631-5 weighting filter for shock like signal in vertical direction. More... | |
| class | chrono::utils::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 | chrono::utils::ChISO2631_Shock_SeatCushionLogger |
| Easy to use class for evaluation of ISO 2361-5 shock load on sitting vehicle occupants. More... | |
| class | chrono::utils::ChParserAdams |
| ADAMS input file parser. More... | |
| class | chrono::utils::ChParserOpenSim |
| OpenSim input file parser. More... | |
| class | chrono::utils::MixtureIngredient |
| Encapsulation of an ingredient of one of the supported types in a mixture. More... | |
| class | chrono::utils::Generator |
| Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More... | |
| class | chrono::utils::Sampler< T > |
| Base class for different types of point samplers. More... | |
| class | chrono::utils::PDGrid< Point > |
| Simple 3D grid utility class for use by the Poisson Disk sampler. More... | |
| class | chrono::utils::PDSampler< T > |
| Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More... | |
| class | chrono::utils::GridSampler< T > |
| Sampler for 3D volumes using a regular (equidistant) grid. More... | |
| class | chrono::utils::HCPSampler< T > |
| Sampler for 3D volumes using a Hexagonally Close Packed structure. More... | |
Macros | |
| #define | YY_DECL int chrono::utils::ChParserAdams::yylex() |
Enumerations | |
| enum | chrono::utils::MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE, BISPHERE, ROUNDEDCYLINDER } |
| Enumeration of various geometric shapes available for mixtures. | |
| enum | chrono::utils::SamplingType { chrono::utils::SamplingType::REGULAR_GRID, chrono::utils::SamplingType::POISSON_DISK, chrono::utils::SamplingType::HCP_PACK } |
| Volumetric sampling method. More... | |
Functions | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a sphere collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a box collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a box capsule shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a box cylinder shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a box cone shape and optionally a corresponding visualization asset to the specified body. | |
| bool | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body. | |
| bool | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body. | |
| bool | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body. | |
| bool | chrono::utils::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 | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a triangle collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body. | |
| void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > 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 | chrono::utils::AddBoxContainer (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, const ChFrame<> &frame, const ChVector<> &size, double thickness, const ChVector< int > faces, bool visualization=true, std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add collision shapes representing a box container of specified dimensions to the given body. More... | |
| std::shared_ptr< ChBody > | chrono::utils::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 > | chrono::utils::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 | chrono::utils::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 | chrono::utils::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... | |
| ChApi void | chrono::utils::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, std::shared_ptr< ChVisualMaterial > 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. | |
| ChApi void | chrono::utils::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), std::shared_ptr< ChVisualMaterial > vis_material=ChVisualMaterial::Default()) |
| Add a convex mesh to an object based on a set of points. More... | |
| template<typename T > | |
| std::vector< ChVector< T > > | chrono::utils::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... | |
Variables | |
| template<class T > | |
| constexpr T | chrono::utils::Pi = T(3.1415926535897932385L) |
Enumeration Type Documentation
◆ SamplingType
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strong |
Function Documentation
◆ AddBoxContainer()
| ChApi void chrono::utils::AddBoxContainer | ( | std::shared_ptr< ChBody > | body, |
| std::shared_ptr< ChMaterialSurface > | material, | ||
| const ChFrame<> & | frame, | ||
| const ChVector<> & | size, | ||
| double | thickness, | ||
| const ChVector< int > | faces, | ||
| bool | visualization = true, |
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| std::shared_ptr< ChVisualMaterial > | vis_material = ChVisualMaterial::Default() |
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| ) |
Add collision shapes representing a box container of specified dimensions to the given body.
The center of the container bottom face is at the origin of the given frame and the the container is aligned with the frame axes. The container walls are constructed with specified thickness
The 'faces' input vector specifies which faces of the container are to be created: for each direction, a value of -1 indicates the face in the negative direction, a value of +1 indicates the face in the positive direction, and a value of 2 indicates both faces. Setting a value of 0 does not create container faces in that direction.
◆ AddConvexCollisionModel()
| ChApi void chrono::utils::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), |
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| const ChQuaternion<> & | rot = ChQuaternion<>(1, 0, 0, 0), |
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| std::shared_ptr< ChVisualMaterial > | vis_material = ChVisualMaterial::Default() |
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| ) |
Add a convex mesh to an object based on a set of points.
This version will use the triangle mesh to set the visualization geometry.
◆ CreateCylindricalContainerFromBoxes()
| ChApi std::shared_ptr< ChBody > chrono::utils::CreateCylindricalContainerFromBoxes | ( | ChSystem * | system, |
| int | id, | ||
| std::shared_ptr< ChMaterialSurface > | mat, | ||
| const ChVector<> & | hdim, | ||
| double | hthick, | ||
| int | numBoxes, | ||
| const ChVector<> & | pos = ChVector<>(0, 0, 0), |
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| const ChQuaternion<> & | rot = ChQuaternion<>(1, 0, 0, 0), |
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| bool | collide = true, |
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| bool | overlap = true, |
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| bool | closed = false, |
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| bool | isBoxBase = true, |
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| bool | partialVisualization = true |
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| ) |
Create a cylindrical container body with contact and asset geometry representing a cylindrical container modeled with boxes.
The container is aligned with the z direction. The position refers to the center of the bottom inner circle. Only half of the cylinder is visualized.
◆ LoadConvexHulls()
| ChApi bool chrono::utils::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.
The output of this function is used with AddConvexCollisionModel
◆ PDLayerSampler_BOX()
template<typename T >
| std::vector<ChVector<T> > chrono::utils::PDLayerSampler_BOX | ( | ChVector< T > | center, |
| ChVector< T > | hdims, | ||
| T | diam, | ||
| T | padding_factor = 1.02, |
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| bool | verbose = false |
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| ) |
Poisson Disk sampler for sampling a 3D box in layers.
The computational efficiency of PD sampling degrades as points are added, especially for large volumes. This class provides an alternative sampling method where PD sampling is done in 2D layers, separated by a specified distance (padding_factor * diam). This significantly improves computational efficiency of the sampling but at the cost of discarding the PD uniform distribution properties in the direction orthogonal to the layers.
- Parameters
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center Center of axis-aligned box to fill hdims Half-dimensions along the x, y, and z axes diam Particle diameter padding_factor Multiplier on particle diameter for spacing verbose Output progress during generation
