Description

Extension of FmuComponentBase class for Chrono FMUs.

#include <ChFmuToolsExport.h>

Inherits FmuComponentBase.

Public Member Functions
	FmuChronoComponentBase (fmu_tools::fmi3::FmuType fmiInterfaceType, fmi3String instanceName, fmi3String instantiationToken, fmi3String resourcePath, fmi3Boolean visible, fmi3Boolean loggingOn, fmi3InstanceEnvironment instanceEnvironment, fmi3LogMessageCallback logMessage)

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...

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"

Member Function Documentation

◆ addDependencies()

virtual void chrono::fmi3::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::fmi3::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::fmi3::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::Float64.

◆ AddFmuFrameMovingVariable()

void chrono::fmi3::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::Float64. Additionally, 7 FMU variables are created to encode the position and orientation time derivatives.

◆ AddFmuFrameVariable()

void chrono::fmi3::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::Float64.

◆ AddFmuQuatVariable()

void chrono::fmi3::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::Float64.

◆ AddFmuVecVariable()

void chrono::fmi3::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::Float64.

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

/builds/uwsbel/chrono/src/chrono_fmi/fmi3/ChFmuToolsExport.h

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ addDependencies()

◆ addDerivative()

◆ AddFmuCsysVariable()

◆ AddFmuFrameMovingVariable()

◆ AddFmuFrameVariable()

◆ AddFmuQuatVariable()

◆ AddFmuVecVariable()