Description
Chrono physics item that wraps a model exchange FMU.
This class allows importing the underlying model in the associated FMU and encapsulate it into a ChExternalDynamics physics item which can be added to a Chrono system. The dynamics of the model exchange FMU are integrated at the same time as the Chrono system and its states can be coupled to other components in the system.
#include <ChExternalFmu.h>
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Public Member Functions | |
void | SetVerbose (bool verbose) |
Set verbose terminal output (default: false). | |
void | Load (const std::string &instance_name, const std::string &fmu_filename, const std::string &unpack_dir="", bool logging=false, const std::string &resources_dir="") |
Load and instantiate the FMU with given name and wrap it as a Chrono physics item. More... | |
void | SetDebugLogging (bool logging, const std::vector< std::string > &log_categories) |
Set FMU debug logging. | |
virtual unsigned int | GetNumStates () const override |
Get number of states. | |
std::unordered_set< std::string > | GetStatesList () const |
Get a list of all real states among the FMU variables. More... | |
std::unordered_set< std::string > | GetRealParametersList () const |
Get a list of all real "parameters" among the FMU variables. More... | |
std::unordered_set< std::string > | GetIntParametersList () const |
Get a list of all integer "parameters" among the FMU variables. More... | |
std::unordered_set< std::string > | GetRealInputsList () const |
Get a list of all continuous real "inputs" among the FMU variables. More... | |
void | SetInitialCondition (const std::string &name, double value) |
Set the initial value for an FMU state. More... | |
void | SetRealParameterValue (const std::string &name, double value) |
Set the value of a real parameter. More... | |
void | SetIntParameterValue (const std::string &name, int value) |
Set the value of an integer parameter. More... | |
void | SetRealInputFunction (const std::string &name, std::function< double(double)> function) |
Set a continuous input function. More... | |
virtual void | Initialize () override |
Initialize this physics item. More... | |
void | PrintFmuVariables () const |
Print the list of FMU variables. | |
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virtual ChExternalDynamics * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual bool | IsStiff () const |
Declare as stiff (default: false). More... | |
ChVectorDynamic | GetInitialStates () |
Get the initial values (state at initial time). | |
const ChVectorDynamic & | GetStates () const |
Get current states. | |
const ChVectorDynamic & | GetRHS () const |
Get current RHS. | |
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ChPhysicsItem (const ChPhysicsItem &other) | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem(). | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem(). More... | |
void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
Add an (optional) visualization model. More... | |
std::shared_ptr< ChVisualModel > | GetVisualModel () const |
Access the visualization model (if any). More... | |
void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
Add the specified visual shape to the visualization model. More... | |
std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
Access the specified visualization shape in the visualization model (if any). More... | |
void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
Add the specified FEA visualization object to the visualization model. More... | |
std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
Access the specified FEA visualization object in the visualization model (if any). More... | |
virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) const |
Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More... | |
virtual unsigned int | GetNumVisualModelClones () const |
Return the number of clones of the visual model associated with this physics item. More... | |
void | AddCamera (std::shared_ptr< ChCamera > camera) |
Attach a ChCamera to this physical item. More... | |
std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
Get the set of cameras attached to this physics item. | |
virtual bool | IsActive () const |
Return true if the object is active and included in dynamics. | |
virtual bool | IsCollisionEnabled () const |
Tell if the object is subject to collision. More... | |
virtual void | AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const |
Add to the provided collision system any collision models managed by this physics item. More... | |
virtual void | RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const |
Remove from the provided collision system any collision models managed by this physics item. More... | |
virtual void | SyncCollisionModels () |
Synchronize the position and bounding box of any collsion models managed by this physics item. | |
virtual ChAABB | GetTotalAABB () const |
Get the axis-aligned bounding box (AABB) of this object. More... | |
virtual ChVector3d | GetCenter () const |
Get a symbolic 'center' of the object. More... | |
virtual void | Setup () |
Perform setup operations. More... | |
virtual void | Update (bool update_assets=true) |
Perform an update using the current time. | |
void | UpdateVisualModel () |
Utility function to update only the associated visual assets (if any). | |
virtual void | ForceToRest () |
Set zero speed (and zero accelerations) in state, without changing the position. More... | |
virtual unsigned int | GetNumCoordsVelLevel () |
Get the number of coordinates at the velocity level. More... | |
virtual unsigned int | GetNumConstraints () |
Get the number of scalar constraints. | |
virtual unsigned int | GetNumConstraintsBilateral () |
Get the number of bilateral scalar constraints. | |
virtual unsigned int | GetNumConstraintsUnilateral () |
Get the number of unilateral scalar constraints. | |
unsigned int | GetOffset_x () |
Get offset in the state vector (position part) | |
unsigned int | GetOffset_w () |
Get offset in the state vector (speed part) | |
unsigned int | GetOffset_L () |
Get offset in the lagrangian multipliers. | |
void | SetOffset_x (const unsigned int moff) |
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_w (const unsigned int moff) |
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_L (const unsigned int moff) |
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) |
Computes Dt = x_new - x, using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | InjectConstraints (ChSystemDescriptor &descriptor) |
Register with the given system descriptor any ChConstraint objects associated with this item. | |
virtual void | LoadConstraintJacobians () |
Compute and load current Jacobians in encapsulated ChConstraint objects. | |
virtual void | ConstraintsBiReset () |
Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) |
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Qc (double factor=1) |
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
virtual void | ArchiveOut (ChArchiveOut &archive_out) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
Method to allow deserialization of transient data from archives. More... | |
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ChObj (const ChObj &other) | |
int | GetIdentifier () const |
Get the unique integer identifier of this object. More... | |
void | SetTag (int tag) |
Set an object integer tag (default: -1). More... | |
int | GetTag () const |
Get the tag of this object. | |
void | SetName (const std::string &myname) |
Set the name of this object. | |
const std::string & | GetName () const |
Get the name of this object. | |
double | GetChTime () const |
Gets the simulation time of this object. | |
void | SetChTime (double m_time) |
Sets the simulation time of this object. | |
virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
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virtual bool | CalculateJac (double time, const ChVectorDynamic<> &y, const ChVectorDynamic<> &rhs, ChMatrixDynamic<> &J) |
Calculate the Jacobian of the ODE right-hand side with respect to the ODE states. More... | |
virtual unsigned int | GetNumCoordsPosLevel () override |
Get the number of coordinates at the position level. More... | |
ChVariables & | Variables () |
virtual void | InjectVariables (ChSystemDescriptor &descriptor) override |
Register with the given system descriptor any ChVariable objects associated with this item. | |
virtual void | InjectKRMMatrices (ChSystemDescriptor &descriptor) override |
Register with the given system descriptor any ChKRMBlock objects associated with this item. | |
virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) override |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override |
From global acceleration vector to item's state acceleration. More... | |
virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override |
Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &v, const double c) override |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
virtual void | IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override |
Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More... | |
virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override |
Prepare variables and constraints to accommodate a solution: More... | |
virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override |
After a solver solution, fetch values from variables and constraints into vectors: More... | |
virtual void | LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override |
Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More... | |
virtual void | VariablesFbReset () override |
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) override |
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () override |
Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
virtual void | VariablesQbSetSpeed (double step=0) override |
Fetches the item speed (ex. More... | |
virtual void | VariablesFbIncrementMq () override |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbIncrementPosition (double step) override |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
virtual void | ConstraintsFbLoadForces (double factor=1) override |
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
void | ComputeJac (double time) |
Compute the Jacobian at the current time and state. | |
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int | GenerateUniqueIdentifier () |
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ChSystem * | system |
parent system | |
std::shared_ptr< ChVisualModelInstance > | vis_model_instance |
instantiated visualization model | |
std::vector< std::shared_ptr< ChCamera > > | cameras |
set of cameras | |
unsigned int | offset_x |
offset in vector of state (position part) | |
unsigned int | offset_w |
offset in vector of state (speed part) | |
unsigned int | offset_L |
offset in vector of lagrangian multipliers | |
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double | ChTime |
object simulation time | |
std::string | m_name |
object name | |
int | m_identifier |
object unique identifier | |
int | m_tag |
user-supplied tag | |
Member Function Documentation
◆ GetIntParametersList()
std::unordered_set< std::string > chrono::ChExternalFmu::GetIntParametersList | ( | ) | const |
Get a list of all integer "parameters" among the FMU variables.
These are integral variables, with variability!="constant" that have initial="exact" or causality="input" and are not state variables. The value of such parameters can be set by calling SetIntParameterValue().
◆ GetRealInputsList()
std::unordered_set< std::string > chrono::ChExternalFmu::GetRealInputsList | ( | ) | const |
Get a list of all continuous real "inputs" among the FMU variables.
These are floating point variables, with causality="input" and variability="continuous". The value of such parameters can be set by providing functions of time through SetRealInputFunction().
◆ GetRealParametersList()
std::unordered_set< std::string > chrono::ChExternalFmu::GetRealParametersList | ( | ) | const |
Get a list of all real "parameters" among the FMU variables.
These are floating point variables, with variability!="constant" that have initial="exact" or causality="input" and are not state variables. The value of such parameters can be set by calling SetRealParameterValue().
◆ GetStatesList()
std::unordered_set< std::string > chrono::ChExternalFmu::GetStatesList | ( | ) | const |
Get a list of all real states among the FMU variables.
These are floating point variables that are declared as state variables. The value of such parameters can be set by calling SetInitialCondition().
◆ Initialize()
|
overridevirtual |
Initialize this physics item.
This function initializes the underlying FMU as well as this physcis item.
Reimplemented from chrono::ChExternalDynamics.
◆ Load()
void chrono::ChExternalFmu::Load | ( | const std::string & | instance_name, |
const std::string & | fmu_filename, | ||
const std::string & | unpack_dir = "" , |
||
bool | logging = false , |
||
const std::string & | resources_dir = "" |
||
) |
Load and instantiate the FMU with given name and wrap it as a Chrono physics item.
Both FMI 2.0 and FMI 3.0 model exchange FMUs are acceptable. If an empty unpack_dir name is specified, the FMU archive is extracted in a temporary directory. If an empty resources_dir name is specified, the directory in the FMU file is used (if any).
- Parameters
-
instance_name name of the FMU instance fmu_filename name of the FMU file unpack_dir unpack directory logging enable FMU logging resources_dir location of FMU resources
◆ SetInitialCondition()
void chrono::ChExternalFmu::SetInitialCondition | ( | const std::string & | name, |
double | value | ||
) |
Set the initial value for an FMU state.
This function must be called before Initialize() and only for a floating point FMU variable that is declared as state variable.
◆ SetIntParameterValue()
void chrono::ChExternalFmu::SetIntParameterValue | ( | const std::string & | name, |
int | value | ||
) |
Set the value of an integer parameter.
This function must be called before Initialize() and only for an integral FMU variable, with variability!="constant" that has initial="exact" or causality="input" and is not a state variable.
◆ SetRealInputFunction()
void chrono::ChExternalFmu::SetRealInputFunction | ( | const std::string & | name, |
std::function< double(double)> | function | ||
) |
Set a continuous input function.
This function will be called automatically during the simulation loop, before interogating the FMU for the model equations, to return a value that is then used to set the FMU variable with specified name at the current time. Continuous inputs are floating point FMU variables, with causality="input" and variability="continuous".
◆ SetRealParameterValue()
void chrono::ChExternalFmu::SetRealParameterValue | ( | const std::string & | name, |
double | value | ||
) |
Set the value of a real parameter.
This function must be called before Initialize() and only for a floating point FMU variable, with variability!="constant" that has initial="exact" or causality="input" and is not a state variable.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_fmi/ChExternalFmu.h
- /builds/uwsbel/chrono/src/chrono_fmi/ChExternalFmu.cpp