Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
chrono::fmi2::FmuChronoComponentBase Class Reference
FMI module » FMI 2.0 support

Description

Extension of FmuComponentBase class for Chrono FMUs.

#include <ChFmuToolsExport.h>

Inherits FmuComponentBase.

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

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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"
 
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::fmi2::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::fmi2::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::fmi2::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::fmi2::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::fmi2::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::fmi2::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::fmi2::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.

Member Data Documentation

◆ visualizer_frames

std::unordered_map<fmi2Integer, VisTuple> chrono::fmi2::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