Description

Extension of FmuComponentBase class for Chrono FMUs.

#include <ChFmuToolsExport.h>

Inherits FmuComponentBase.

Inherited by FmuComponent, FmuComponent, FmuComponent, FmuComponent, and FmuComponent.

Collaboration diagram for chrono::FmuChronoComponentBase:

[legend]

Public Member Functions
	FmuChronoComponentBase (fmi2String instanceName, fmi2Type fmuType, fmi2String fmuGUID, fmi2String fmuResourceLocation, const fmi2CallbackFunctions *functions, fmi2Boolean visible, fmi2Boolean loggingOn)

void	AddFmuVecVariable (ChVector3d &v, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous, FmuVariable::InitialType initial=FmuVariable::InitialType::none)
	Add FMU variables corresponding to the specified ChVector3d. More...

void	AddFmuQuatVariable (ChQuaternion<> &q, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous, FmuVariable::InitialType initial=FmuVariable::InitialType::none)
	Add FMU variables corresponding to the specified ChQuaternion. More...

void	AddFmuCsysVariable (ChCoordsysd &s, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous, FmuVariable::InitialType initial=FmuVariable::InitialType::none)
	Add FMU variables corresponding to the specified ChCoordsys. More...

void	AddFmuFrameVariable (ChFrame<> &s, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous, FmuVariable::InitialType initial=FmuVariable::InitialType::none)
	Add FMU variables corresponding to the specified ChFrame. More...

void	AddFmuFrameMovingVariable (ChFrameMoving<> &s, const std::string &name, const std::string &unit_name, const std::string &unit_name_dt, const std::string &description, FmuVariable::CausalityType causality=FmuVariable::CausalityType::local, FmuVariable::VariabilityType variability=FmuVariable::VariabilityType::continuous, FmuVariable::InitialType initial=FmuVariable::InitialType::none)
	Add FMU variables corresponding to the specified ChFrameMoving. More...

void	AddFmuVisualShapes (const ChPhysicsItem &pi, std::string custom_pi_name="")
	Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem. More...

void	AddFmuVisualShapes (const ChAssembly &ass)
	Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly. More...

Protected Types
using	VisTuple = std::tuple< ChFrame<>, const ChPhysicsItem , const ChFrame<> , bool >

Protected Member Functions
void	addFmuVecVariable (ChVector3d &v, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality, FmuVariable::VariabilityType variability, FmuVariable::InitialType initial, bool cache)

void	addFmuQuatVariable (ChQuaternion<> &q, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality, FmuVariable::VariabilityType variability, FmuVariable::InitialType initial, bool cache)

void	addFmuCsysVariable (ChCoordsysd &s, const std::string &name, const std::string &unit_name, const std::string &description, FmuVariable::CausalityType causality, FmuVariable::VariabilityType variability, FmuVariable::InitialType initial, bool cache)

void	addFmuFrameMovingVariable (ChFrameMoving<> &s, const std::string &name, const std::string &unit_name, const std::string &unit_name_dt, const std::string &description, FmuVariable::CausalityType causality, FmuVariable::VariabilityType variability, FmuVariable::InitialType initial, bool cache)

virtual void	addDerivative (const std::string &derivative_name, const std::string &state_name, const std::vector< std::string > &dependency_names) override
	Add a declaration of a state derivative. More...

virtual void	addDependencies (const std::string &variable_name, const std::vector< std::string > &dependency_names) override
	Include a dependency of "variable_name" on "dependency_name". More...

Protected Attributes
std::unordered_set< std::string >	variables_vec
	list of ChVector3 "variables"

std::unordered_set< std::string >	variables_quat
	list of ChQuaternion "variables"

std::unordered_set< std::string >	variables_csys
	list of ChCoordsys "variables"

std::unordered_set< std::string >	variables_framem
	list of ChFrameMoving "variables"

chrono::ChOutputFMU	variables_serializer
	add variables to the FMU component by leveraging the serialization mechanism

std::unordered_map< fmi2Integer, VisTuple >	visualizer_frames
	Map of visualization global frames. More...

fmi2Integer	visualizers_counter = 0
	total number of visualizers (not unsigned to keep compatibility with FMU standard types)

Static Protected Attributes
static const std::unordered_set< std::string >	supported_shape_types
	list of supported shapes for visualization, required to provide a memory position to getters of shape type More...

Member Function Documentation

◆ addDependencies()

virtual void chrono::FmuChronoComponentBase::addDependencies	(	const std::string &	variable_name,
		const std::vector< std::string > &	dependency_names
	)

inlineoverrideprotectedvirtual

Include a dependency of "variable_name" on "dependency_name".

This version accounts for variables and/or dependencies corresponding to ChVector3, ChQuaternion, ChCoordsys, ChFrame, or ChFrameMoving types. These are expanded to the appropriate number of FMI scalar variables.

◆ addDerivative()

virtual void chrono::FmuChronoComponentBase::addDerivative	(	const std::string &	derivative_name,
		const std::string &	state_name,
		const std::vector< std::string > &	dependency_names
	)

inlineoverrideprotectedvirtual

Add a declaration of a state derivative.

This version accounts for states and state derivatives corresponding to ChVector3 or ChQuaternion types. These are expanded to the appropriate number of FMI scalar variables. Dependencies can include ChVector3, ChQuaternion, ChCoordsys, or ChFrameMoving variables.

◆ AddFmuCsysVariable()

void chrono::FmuChronoComponentBase::AddFmuCsysVariable	(	ChCoordsysd &	s,
		const std::string &	name,
		const std::string &	unit_name,
		const std::string &	description,
		FmuVariable::CausalityType	causality = `FmuVariable::CausalityType::local`,
		FmuVariable::VariabilityType	variability = `FmuVariable::VariabilityType::continuous`,
		FmuVariable::InitialType	initial = `FmuVariable::InitialType::none`
	)

inline

Add FMU variables corresponding to the specified ChCoordsys.

This function creates 7 FMU variables, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real.

◆ AddFmuFrameMovingVariable()

void chrono::FmuChronoComponentBase::AddFmuFrameMovingVariable	(	ChFrameMoving<> &	s,
		const std::string &	name,
		const std::string &	unit_name,
		const std::string &	unit_name_dt,
		const std::string &	description,
		FmuVariable::CausalityType	causality = `FmuVariable::CausalityType::local`,
		FmuVariable::VariabilityType	variability = `FmuVariable::VariabilityType::continuous`,
		FmuVariable::InitialType	initial = `FmuVariable::InitialType::none`
	)

inline

Add FMU variables corresponding to the specified ChFrameMoving.

This function creates 7 FMU variables for the pose, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real. Additionally, 7 FMU variables are created to encode the position and orientation time derivatives.

◆ AddFmuFrameVariable()

void chrono::FmuChronoComponentBase::AddFmuFrameVariable	(	ChFrame<> &	s,
		const std::string &	name,
		const std::string &	unit_name,
		const std::string &	description,
		FmuVariable::CausalityType	causality = `FmuVariable::CausalityType::local`,
		FmuVariable::VariabilityType	variability = `FmuVariable::VariabilityType::continuous`,
		FmuVariable::InitialType	initial = `FmuVariable::InitialType::none`
	)

inline

Add FMU variables corresponding to the specified ChFrame.

This function creates 7 FMU variables, one for each component of the position ChVector3d and one for each component of the rotation quaternion, all of type FmuVariable::Type::Real.

◆ AddFmuQuatVariable()

void chrono::FmuChronoComponentBase::AddFmuQuatVariable	(	ChQuaternion<> &	q,
		const std::string &	name,
		const std::string &	unit_name,
		const std::string &	description,
		FmuVariable::CausalityType	causality = `FmuVariable::CausalityType::local`,
		FmuVariable::VariabilityType	variability = `FmuVariable::VariabilityType::continuous`,
		FmuVariable::InitialType	initial = `FmuVariable::InitialType::none`
	)

inline

Add FMU variables corresponding to the specified ChQuaternion.

This function creates 4 FMU variables, one for each component of the ChVector3d, with names "name.e0", "name.e1", "name.e2", and "name.e3", all of type FmuVariable::Type::Real.

◆ AddFmuVecVariable()

void chrono::FmuChronoComponentBase::AddFmuVecVariable	(	ChVector3d &	v,
		const std::string &	name,
		const std::string &	unit_name,
		const std::string &	description,
		FmuVariable::CausalityType	causality = `FmuVariable::CausalityType::local`,
		FmuVariable::VariabilityType	variability = `FmuVariable::VariabilityType::continuous`,
		FmuVariable::InitialType	initial = `FmuVariable::InitialType::none`
	)

inline

Add FMU variables corresponding to the specified ChVector3d.

This function creates 3 FMU variables, one for each component of the ChVector3d, with names "name.x", "name.y", and "name.z", all of type FmuVariable::Type::Real.

◆ AddFmuVisualShapes() [1/2]

void chrono::FmuChronoComponentBase::AddFmuVisualShapes ( const ChAssembly & ass )

Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly.

Refer to the AddFmuVisualShapes(ChPhysicsItem) function for details on the variables created.

◆ AddFmuVisualShapes() [2/2]

void chrono::FmuChronoComponentBase::AddFmuVisualShapes	(	const ChPhysicsItem &	pi,
		std::string	custom_pi_name = `""`
	)

Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem.

Variables with the following names are created for each visual shape:

VISUALIZER[i].frame.pos.[x|y|z]: position from global to shape local frame in global reference frame
VISUALIZER[i].frame.rot.[e0|e1|e2|e3]]: rotation from shape local to global frame
VISUALIZER[i].shape.type [fmi2String]: one of the supported_shape_types
VISUALIZER[i].owner [fmi2String]: owner of the shape, either custom_pi_name or from ChPhysicsItem::GetName()
VISUALIZER[i].owner_id [fmi2String]: id of the owner ChPhysicsItem
VISUALIZER[i].shape.<shape-specific variables>: depends on the shape type Variables are of fmi2Real type if not otherwise specified.

Member Data Documentation

◆ supported_shape_types

const std::unordered_set< std::string > chrono::FmuChronoComponentBase::supported_shape_types

staticprotected

Initial value:

= {
    "ChVisualShapeModelFile", "ChVisualShapeTriangleMesh",
    "ChVisualShapeSurface",   "ChVisualShapeSphere",
    "ChVisualShapeEllipsoid", "ChVisualShapeCylinder",
    "ChVisualShapeCapsule",   "ChVisualShapeBox",
    "ChVisualShapeBarrel",    "ChGlyphs",
    "ChVisualShapePath",      "ChVisualShapeLine",
    "ChVisualShapeUNKNOWN"}

list of supported shapes for visualization, required to provide a memory position to getters of shape type

◆ visualizer_frames

std::unordered_map<fmi2Integer, VisTuple> chrono::FmuChronoComponentBase::visualizer_frames

protected

Map of visualization global frames.

Includes:

visual shape frames (from shape local frame to global)
ChPhysicsItem to which they are bounded
(constant) ChFrame local to the shape
flag to tell if the frame has been already updated in the current step

The documentation for this class was generated from the following file:

/builds/uwsbel/chrono/src/chrono_fmi/fmi2/ChFmuToolsExport.h

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Function Documentation

◆ addDependencies()

◆ addDerivative()

◆ AddFmuCsysVariable()

◆ AddFmuFrameMovingVariable()

◆ AddFmuFrameVariable()

◆ AddFmuQuatVariable()

◆ AddFmuVecVariable()

◆ AddFmuVisualShapes() [1/2]

◆ AddFmuVisualShapes() [2/2]

Member Data Documentation

◆ supported_shape_types

◆ visualizer_frames