Description

Agent wrapper of a wheeled vehicle, in particular holds a pointer to a ChWheeledVehicle and sends out SynWheeledVehicleMessage-s to synchronize its state.

#include <SynWheeledVehicleAgent.h>

Inheritance diagram for chrono::synchrono::SynWheeledVehicleAgent:

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Collaboration diagram for chrono::synchrono::SynWheeledVehicleAgent:

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Public Member Functions
	SynWheeledVehicleAgent (chrono::vehicle::ChWheeledVehicle *vehicle=nullptr, const std::string &filename="")
	Construct a wheeled vehicle agent with optionally a vehicle. More...

virtual	~SynWheeledVehicleAgent ()
	Destructor.

virtual void	InitializeZombie (ChSystem *system) override
	Initialize this agents zombie representation Bodies are added and represented in the lead agent's world. More...

virtual void	SynchronizeZombie (std::shared_ptr< SynMessage > message) override
	Synchronize this agents zombie with the rest of the simulation. More...

virtual void	Update () override
	Update this agent Typically used to update the state representation of the agent to be distributed to other agents. More...

virtual void	GatherMessages (SynMessageList &messages) override
	Generates messages to be sent to other nodes Will create or get messages and pass them into the referenced message vector. More...

virtual void	GatherDescriptionMessages (SynMessageList &messages) override
	Get the description messages for this agent A single agent may have multiple description messages. More...

void	SetZombieVisualizationFilesFromJSON (const std::string &filename)
	Set the zombie visualization files from a JSON specification file. More...

void	SetZombieVisualizationFiles (std::string chassis_vis_file, std::string wheel_vis_file, std::string tire_vis_file)
	Set the zombie visualization files. More...

void	SetNumWheels (int num_wheels)
	Set the number of wheels of the underlying vehicle. More...

virtual void	SetKey (AgentKey agent_key) override
	Set the Agent ID. More...

Public Member Functions inherited from chrono::synchrono::SynAgent
	SynAgent (AgentKey agent_key={0, 0})
	Construct a agent with the specified node_id. More...

virtual	~SynAgent ()
	Destructor.

virtual void	ProcessMessage (std::shared_ptr< SynMessage > msg)
	Process an incoming message. More...

virtual void	RegisterZombie (std::shared_ptr< SynAgent > zombie)
	Register a new zombie. More...

void	SetProcessMessageCallback (std::function< void(std::shared_ptr< SynMessage >)> callback)

int	GetID ()

AgentKey	GetKey ()

Protected Member Functions
std::shared_ptr< ChVisualShapeTriangleMesh >	CreateMeshZombieComponent (const std::string &filename)
	Helper method used to create a ChVisualShapeTriangleMesh to be used on as a zombie body. More...

std::shared_ptr< ChBodyAuxRef >	CreateChassisZombieBody (const std::string &filename, ChSystem *system)
	Create a zombie chassis body. More...

Protected Attributes
chrono::vehicle::ChWheeledVehicle *	m_vehicle
	Pointer to the ChWheeledVehicle this class wraps.

std::shared_ptr< SynWheeledVehicleStateMessage >	m_state
	State of the vehicle (See SynWheeledVehicleMessage)

std::shared_ptr< SynWheeledVehicleDescriptionMessage >	m_description
	Description for zombie creation on discovery.

std::shared_ptr< ChBodyAuxRef >	m_zombie_body
	agent's zombie body reference

std::vector< std::shared_ptr< ChBodyAuxRef > >	m_wheel_list
	vector of this agent's zombie wheels

Protected Attributes inherited from chrono::synchrono::SynAgent
AgentKey	m_agent_key

std::function< void(std::shared_ptr< SynMessage >)>	m_process_message_callback

Constructor & Destructor Documentation

◆ SynWheeledVehicleAgent()

chrono::synchrono::SynWheeledVehicleAgent::SynWheeledVehicleAgent	(	chrono::vehicle::ChWheeledVehicle *	vehicle = `nullptr`,
		const std::string &	filename = `""`
	)

Construct a wheeled vehicle agent with optionally a vehicle.

Parameters

vehicle	the vehicle this agent is responsible for (will be null if agent's a zombie)
filename	json specification file for zombie visualization (will query vehicle if not passed)

Member Function Documentation

◆ CreateChassisZombieBody()

std::shared_ptr< ChBodyAuxRef > chrono::synchrono::SynWheeledVehicleAgent::CreateChassisZombieBody	(	const std::string &	filename,
		ChSystem *	system
	)

protected

Create a zombie chassis body.

All ChVehicles have a chassis, so this can be defined here

Parameters

filename	the filename that describes the ChVisualShapeTriangleMesh that should represent the chassis
system	the system to add the body to

◆ CreateMeshZombieComponent()

std::shared_ptr< ChVisualShapeTriangleMesh > chrono::synchrono::SynWheeledVehicleAgent::CreateMeshZombieComponent ( const std::string & filename )

protected

Helper method used to create a ChVisualShapeTriangleMesh to be used on as a zombie body.

Parameters

filename the file to generate a ChVisualShapeTriangleMesh from

Returns: std::shared_ptr<ChVisualShapeTriangleMesh>

◆ GatherDescriptionMessages()

virtual void chrono::synchrono::SynWheeledVehicleAgent::GatherDescriptionMessages ( SynMessageList & messages )

inlineoverridevirtual

Get the description messages for this agent A single agent may have multiple description messages.

Parameters

messages a referenced vector containing messages to be distributed from this rank

Implements chrono::synchrono::SynAgent.

◆ GatherMessages()

virtual void chrono::synchrono::SynWheeledVehicleAgent::GatherMessages ( SynMessageList & messages )

inlineoverridevirtual

Generates messages to be sent to other nodes Will create or get messages and pass them into the referenced message vector.

Parameters

messages a referenced vector containing messages to be distributed from this rank

Implements chrono::synchrono::SynAgent.

◆ InitializeZombie()

void chrono::synchrono::SynWheeledVehicleAgent::InitializeZombie ( ChSystem * system )

overridevirtual

Initialize this agents zombie representation Bodies are added and represented in the lead agent's world.

Parameters

system the ChSystem used to initialize the zombie

Implements chrono::synchrono::SynAgent.

◆ SetKey()

void chrono::synchrono::SynWheeledVehicleAgent::SetKey ( AgentKey agent_key )

overridevirtual

Set the Agent ID.

Reimplemented from chrono::synchrono::SynAgent.

◆ SetNumWheels()

void chrono::synchrono::SynWheeledVehicleAgent::SetNumWheels ( int num_wheels )

inline

Set the number of wheels of the underlying vehicle.

Parameters

num_wheels number of wheels of the underlying vehicle

◆ SetZombieVisualizationFiles()

void chrono::synchrono::SynWheeledVehicleAgent::SetZombieVisualizationFiles	(	std::string	chassis_vis_file,
		std::string	wheel_vis_file,
		std::string	tire_vis_file
	)

inline

Set the zombie visualization files.

Parameters

chassis_vis_file	the file used for chassis visualization
wheel_vis_file	the file used for wheel visualization
tire_vis_file	the file used for tire visualization

◆ SetZombieVisualizationFilesFromJSON()

void chrono::synchrono::SynWheeledVehicleAgent::SetZombieVisualizationFilesFromJSON ( const std::string & filename )

Set the zombie visualization files from a JSON specification file.

Parameters

filename the json specification file

◆ SynchronizeZombie()

void chrono::synchrono::SynWheeledVehicleAgent::SynchronizeZombie ( std::shared_ptr< SynMessage > message )

overridevirtual

Synchronize this agents zombie with the rest of the simulation.

Updates agent based on the passed message. Any message can be passed, so a check should be done to ensure this message was intended for this agent.

Parameters

message the message to process and is used to update the position of the zombie

Implements chrono::synchrono::SynAgent.

◆ Update()

void chrono::synchrono::SynWheeledVehicleAgent::Update ( )

overridevirtual

Update this agent Typically used to update the state representation of the agent to be distributed to other agents.

Implements chrono::synchrono::SynAgent.

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

/builds/uwsbel/chrono/src/chrono_synchrono/agent/SynWheeledVehicleAgent.h
/builds/uwsbel/chrono/src/chrono_synchrono/agent/SynWheeledVehicleAgent.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SynWheeledVehicleAgent()

Member Function Documentation

◆ CreateChassisZombieBody()

◆ CreateMeshZombieComponent()

◆ GatherDescriptionMessages()

◆ GatherMessages()

◆ InitializeZombie()

◆ SetKey()

◆ SetNumWheels()

◆ SetZombieVisualizationFiles()

◆ SetZombieVisualizationFilesFromJSON()

◆ SynchronizeZombie()

◆ Update()