chrono::parsers::ChParserOpenSim Class Reference

Description

OpenSim input file parser.

#include <ChParserOpenSim.h>

Classes
class	Report
	Report containing information about objects parsed from file. More...

Public Types
enum	VisType { PRIMITIVES, MESH, NONE }

Public Member Functions
void	SetContactFrictionCoefficient (float friction_coefficient)
	Set coefficient of friction. More...
void	SetContactRestitutionCoefficient (float restitution_coefficient)
	Set coefficient of restitution. More...
void	SetContactMaterialProperties (float young_modulus, float poisson_ratio)
	Set contact material properties. More...
void	SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
	Set contact material coefficients. More...
void	EnableCollision (bool val)
	Enable collision between bodies in this model (default: false).
void	SetCollisionFamilies (int family_1=1, int family_2=2)
	Set collision families (to disable collision between a body and its parent). More...
void	SetVisualizationType (VisType val)
	Set body visualization type (default: NONE).
void	SetVerbose (bool val)
	Enable/disable verbose parsing output (default: false).
void	ActivateActuators (bool val)
	Activate actuators. More...
void	Parse (ChSystem &system, const std::string &filename)
	Parse the specified OpenSim input file and create the model in the given system. More...
ChSystem *	Parse (const std::string &filename, ChContactMethod contact_method=ChContactMethod::NSC)
	Parse the specified OpenSim input file and create the model in a new system. More...
const Report &	GetReport () const
	Get the report for this parser. More...
void	PrintReport () const
	Print the parser's report.
void	SetExcitationFunction (const std::string &name, std::shared_ptr< ChFunction > modulation)
	Set excitation function for the actuator with the specified name. More...

Member Function Documentation

ActivateActuators()

void chrono::parsers::ChParserOpenSim::ActivateActuators ( bool  val )

inline

Activate actuators.

By default, any actuator read in from the osim file is inactive (zero excitation). If enabled, all actuators will receive a constant excitation function with value 1. The excitation function for an actuator can be specified, after parsing, using SetExcitationFunction().

GetReport()

const Report& chrono::parsers::ChParserOpenSim::GetReport ( ) const

inline

Get the report for this parser.

This contains the lists of bodies, joints, and forces that were created from the input osim file.

Parse() [1/2]

void chrono::parsers::ChParserOpenSim::Parse	(	ChSystem &	system,
		const std::string &	filename
	)

Parse the specified OpenSim input file and create the model in the given system.

Parameters

[in]	system	containing Chrono system
[in]	filename	OpenSim input file name

Parse() [2/2]

ChSystem * chrono::parsers::ChParserOpenSim::Parse	(	const std::string &	filename,
		ChContactMethod	contact_method = ChContactMethod::NSC
	)

Parse the specified OpenSim input file and create the model in a new system.

Note that the created system is not deleted in the parser's destructor; rather, ownership is transferred to the caller.

Parameters

[in]	filename	OpenSim input file name
[in]	contact_method	contact method

SetCollisionFamilies()

void chrono::parsers::ChParserOpenSim::SetCollisionFamilies	(	int	family_1 = 1,
		int	family_2 = 2
	)

Set collision families (to disable collision between a body and its parent).

Note: automaticaly enables collision.

Parameters

[in]	family_1	first collision family
[in]	family_2	second collision family

SetContactFrictionCoefficient()

void chrono::parsers::ChParserOpenSim::SetContactFrictionCoefficient ( float  friction_coefficient )

inline

Set coefficient of friction.

The default value is 0.6

SetContactMaterialCoefficients()

void chrono::parsers::ChParserOpenSim::SetContactMaterialCoefficients	(	float	kn,
		float	gn,
		float	kt,
		float	gt
	)

Set contact material coefficients.

These values are used directly to compute contact forces (if the containing system is so configured and if the SMC contact method is being used). The default values are: kn=2e5, gn=40, kt=2e5, gt=20

Parameters

[in]	kn	normal contact stiffness
[in]	gn	normal contact damping
[in]	kt	tangential contact stiffness
[in]	gt	tangential contact damping

SetContactMaterialProperties()

void chrono::parsers::ChParserOpenSim::SetContactMaterialProperties	(	float	young_modulus,
		float	poisson_ratio
	)

Set contact material properties.

These values are used to calculate contact material coefficients (if the containing system is so configured and if the SMC contact method is being used). The default values are: Y = 2e5 and nu = 0.3

Parameters

[in]	young_modulus	Young's modulus of elasticity
[in]	poisson_ratio	Poisson ratio

SetContactRestitutionCoefficient()

void chrono::parsers::ChParserOpenSim::SetContactRestitutionCoefficient ( float  restitution_coefficient )

inline

Set coefficient of restitution.

The default value is 0.4

SetExcitationFunction()

void chrono::parsers::ChParserOpenSim::SetExcitationFunction	(	const std::string &	name,
		std::shared_ptr< ChFunction >	modulation
	)

Set excitation function for the actuator with the specified name.

This method should be invoked only after parsing an osim file.

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

• /builds/uwsbel/chrono/src/chrono_parsers/ChParserOpenSim.h
• /builds/uwsbel/chrono/src/chrono_parsers/ChParserOpenSim.cpp