Description

Base class for a terrain node.

Implements required functionality for a co-simulation node (Initialize(), Synchronize(), Advance()) and all MPI communication.

A derived class must implement functions to:

specify the communication interface type (SupportsMeshInterface())
construct and initialize the concrete terrain object (OnInitialize())
accept new body states (UpdateRigidProxy() and/or UpdateMeshProxy())
provide terrain forces acting on bodies (GetForceRigidProxy() and/or GetForceMeshProxy())
advance the dynamic state of the terrain (OnAdvance())

Optionally, a derived class may implement functions to:

perform additional operations after a synchronization data exchange (OnSynchronize())
perform additional data output (OnOutputData())
provide run-time visualization (Render())

#include <ChVehicleCosimTerrainNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNode:

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Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNode:

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Public Member Functions
virtual NodeType	GetNodeType () const override
	Return the node type as NodeType::TERRAIN.

void	SetDimensions (double length, double width)
	Set the terrain patch dimensions. More...

void	GetDimensions (double &length, double &width)
	Get the terrain patch dimensions.

virtual void	Initialize () override final
	Initialize this node. More...

virtual void	Synchronize (int step_number, double time) override final
	Synchronize this node. More...

virtual void	Advance (double step_size) override final
	Advance simulation. More...

virtual void	OutputData (int frame) override final
	Output logging and debugging data.

virtual void	OutputVisualizationData (int frame) override
	Output post-processing visualization data. More...

virtual unsigned int	GetNumContacts () const
	Return current number of contacts. More...

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
std::string	GetNodeTypeString () const
	Return the node type as a string.

bool	IsCosimNode () const
	Return true if this node is part of the co-simulation infrastructure.

void	SetStepSize (double step)
	Set the integration step size (default: 1e-4).

double	GetStepSize () const
	Get the integration step size.

void	SetOutDir (const std::string &dir_name, const std::string &suffix="")
	Set the name of the output directory and an identifying suffix. More...

void	SetVerbose (bool verbose)
	Enable/disable verbose messages during simulation (default: true).

void	EnableRuntimeVisualization (double render_fps=100, bool save_img=false)
	Enable run-time visualization (default: false). More...

void	SetCameraPosition (const ChVector3d &cam_pos, const ChVector3d &cam_target=VNULL)
	Set camera location and target point.

void	SetCameraTracking (bool track)
	Enable/disable tracking of objects (default: true).

void	EnablePostprocessVisualization (double render_fps=100)
	Enable Blender postprocessing (default: false). More...

const std::string &	GetOutDirName () const
	Get the output directory name for this node.

double	GetStepExecutionTime () const
	Get the simulation execution time for the current step on this node. More...

double	GetTotalExecutionTime () const
	Get the cumulative simulation execution time on this node.

virtual void	OnRender ()
	Render the current simulation frame. More...

void	Render (double step_size)
	Render simulation frame. More...

virtual void	WriteCheckpoint (const std::string &filename) const
	Write checkpoint to the specified file (which will be created in the output directory).

Protected Member Functions
	ChVehicleCosimTerrainNode (double length, double width)
	Construct a terrain node to wrap a terrain patch of given length and width.

virtual bool	SupportsMeshInterface () const =0
	Specify whether or not the terrain node supports the MESH communication interface. More...

virtual double	GetInitHeight () const =0
	Return the terrain initial height. More...

virtual void	OnInitialize (unsigned int num_objects)=0
	Perform any additional operations after the initial data exchange with the MBS node, including creating any required proxies for the specified number of objects. More...

virtual void	OnSynchronize (int step_number, double time)
	Perform any additional operations after the data exchange and synchronization with the MBS node. More...

virtual void	OnAdvance (double step_size)=0
	Advance the state of the terrain system by the specified step.

virtual void	OnOutputData (int frame)
	Perform additional output at the specified frame (called from within OutputData).

virtual void	UpdateMeshProxy (unsigned int i, MeshState &mesh_state)
	Update the state of the i-th proxy mesh. More...

virtual void	GetForceMeshProxy (unsigned int i, MeshContact &mesh_contact)
	Collect cumulative contact forces on the i-th proxy mesh. More...

virtual void	UpdateRigidProxy (unsigned int i, BodyState &rigid_state)=0
	Update the state of the i-th proxy rigid. More...

virtual void	GetForceRigidProxy (unsigned int i, TerrainForce &rigid_contact)=0
	Collect cumulative contact force and torque on the i-th proxy rigid. More...

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
	ChVehicleCosimBaseNode (const std::string &name)

virtual ChSystem *	GetSystemPostprocess () const =0
	Get the Chrono system that holds the visualization shapes (used only for post-processing export).

void	SendGeometry (const utils::ChBodyGeometry &geom, int dest) const
	Utility function to pack and send a struct with geometry information.

void	RecvGeometry (utils::ChBodyGeometry &geom, int source) const
	Utility function to receive and unpack a struct with geometry information.

void	ProgressBar (unsigned int x, unsigned int n, unsigned int w=50)
	Utility function to display a progress bar to the terminal. More...

Protected Attributes
double	m_dimX
	patch length (X direction)

double	m_dimY
	patch width (Y direction)

bool	m_wheeled
	comm node (true: TIRE nodes, false: tracked MBS node)

InterfaceType	m_interface_type
	communication interface (body or mesh)

int	m_num_objects
	number of interacting objects

std::vector< ChVector3d >	m_init_loc
	initial locations of interacting objects

std::vector< ChAABB >	m_aabb
	AABB of collision models for interacting objects.

std::vector< utils::ChBodyGeometry >	m_geometry
	contact geometry and materials for interacting objects

std::vector< double >	m_load_mass
	vertical load on interacting objects

std::vector< int >	m_obj_map
	mapping from interacting object to shape

std::vector< MeshState >	m_mesh_state
	mesh state (used for MESH communication)

std::vector< BodyState >	m_rigid_state
	rigid state (used for BODY communication interface)

std::vector< MeshContact >	m_mesh_contact
	mesh contact forces (used for MESH communication interface)

std::vector< TerrainForce >	m_rigid_contact
	rigid contact force (used for BODY communication interface)

Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
int	m_rank
	MPI rank of this node (in MPI_COMM_WORLD)

double	m_step_size
	integration step size

std::string	m_name
	name of the node

std::string	m_out_dir
	top-level output directory

std::string	m_node_out_dir
	node-specific output directory

std::ofstream	m_outf
	output file stream

bool	m_renderRT
	if true, perform run-time rendering

bool	m_renderRT_all
	if true, render all frames

double	m_renderRT_step
	time step between rendered frames

bool	m_writeRT
	if true, write images to file

bool	m_renderPP
	if true, save data for post-processing

bool	m_renderPP_all
	if true, save data at all frames

double	m_renderPP_step
	time step between post-processing save frames

bool	m_track
	track objects

ChVector3d	m_cam_pos
	camera location

ChVector3d	m_cam_target
	camera target (lookat) point

unsigned int	m_num_wheeled_mbs_nodes

unsigned int	m_num_tracked_mbs_nodes

unsigned int	m_num_terrain_nodes

unsigned int	m_num_tire_nodes

ChTimer	m_timer
	timer for integration cost

double	m_cum_sim_time
	cumulative integration cost

bool	m_verbose
	verbose messages during simulation?

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChVehicleCosimBaseNode
enum	NodeType { NodeType::MBS_WHEELED, NodeType::MBS_TRACKED, NodeType::TERRAIN, NodeType::TIRE }
	Type of node participating in co-simulation. More...

enum	InterfaceType { InterfaceType::BODY, InterfaceType::MESH }
	Type of the vehicle-terrain communication interface. More...

Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
static std::string	OutputFilename (const std::string &dir, const std::string &root, const std::string &ext, int frame, int frame_digits)
	Utility function for creating an output file name. More...

Static Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
static const double	m_gacc = -9.81

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChVehicleCosimTerrainNode::Advance ( double step_size )

finaloverridevirtual

Advance simulation.

This function is called after a synchronization to allow the node to advance its state by the specified time step. A node is allowed to take as many internal integration steps as required, but no inter-node communication should occur.

Implements chrono::vehicle::ChVehicleCosimBaseNode.

◆ GetForceMeshProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::GetForceMeshProxy	(	unsigned int	i,
		MeshContact &	mesh_contact
	)

inlineprotectedvirtual

Collect cumulative contact forces on the i-th proxy mesh.

Load indices of vertices in contact and the corresponding vertex forces (expressed in absolute frame) into the provided MeshContact struct.

◆ GetForceRigidProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::GetForceRigidProxy	(	unsigned int	i,
		TerrainForce &	rigid_contact
	)

protectedpure virtual

Collect cumulative contact force and torque on the i-th proxy rigid.

Load contact forces (expressed in absolute frame) into the provided TerrainForce struct.

◆ GetInitHeight()

virtual double chrono::vehicle::ChVehicleCosimTerrainNode::GetInitHeight ( ) const

protectedpure virtual

Return the terrain initial height.

This value must be available before the call to Initialize() (and therefore, before the derived class's OnInitialize() is called).

Implemented in chrono::vehicle::ChVehicleCosimTerrainNodeChrono.

◆ GetNumContacts()

virtual unsigned int chrono::vehicle::ChVehicleCosimTerrainNode::GetNumContacts ( ) const

inlinevirtual

Return current number of contacts.

(concrete terrain specific)

◆ Initialize()

void chrono::vehicle::ChVehicleCosimTerrainNode::Initialize ( )

finaloverridevirtual

Initialize this node.

This function allows the node to initialize itself and, optionally, perform an initial data exchange with any other node.

Reimplemented from chrono::vehicle::ChVehicleCosimBaseNode.

◆ OnInitialize()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::OnInitialize ( unsigned int num_objects )

protectedpure virtual

Perform any additional operations after the initial data exchange with the MBS node, including creating any required proxies for the specified number of objects.

A derived class has access to the following vectors, each of size m_num_shapes:

m_aabb: collision model bounding box
m_load_mass: vertical load on each object
m_geometry: collision geometry and contact material for each object

Implemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularOMP, chrono::vehicle::ChVehicleCosimTerrainNodeChrono, chrono::vehicle::ChVehicleCosimTerrainNodeGranularGPU, chrono::vehicle::ChVehicleCosimTerrainNodeSCM, chrono::vehicle::ChVehicleCosimTerrainNodeRigid, and chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH.

◆ OnSynchronize()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::OnSynchronize	(	int	step_number,
		double	time
	)

inlineprotectedvirtual

Perform any additional operations after the data exchange and synchronization with the MBS node.

A derived class has access to the following vectors (of size equal to the number of interacting objects):

full dynamic state of the rigid bodies (through m_rigid_state) when using the BODY communication interface
state of the mesh vertices (through m_mesh_state) when using the MESH communication interface

◆ OutputVisualizationData()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::OutputVisualizationData ( int frame )

inlineoverridevirtual

Output post-processing visualization data.

If implemented, this function should write a file in the "visualization" subdirectory of m_node_out_dir.

Implements chrono::vehicle::ChVehicleCosimBaseNode.

Reimplemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularOMP, chrono::vehicle::ChVehicleCosimTerrainNodeGranularGPU, chrono::vehicle::ChVehicleCosimTerrainNodeRigid, and chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH.

◆ SetDimensions()

void chrono::vehicle::ChVehicleCosimTerrainNode::SetDimensions	(	double	length,
		double	width
	)

Set the terrain patch dimensions.

If invoked, this function must be called before Initialize.

◆ SupportsMeshInterface()

virtual bool chrono::vehicle::ChVehicleCosimTerrainNode::SupportsMeshInterface ( ) const

protectedpure virtual

Specify whether or not the terrain node supports the MESH communication interface.

See ChVehicleCosimBaseNode::InterfaceType. A terrain that also supports the MESH communication interface must override the functions UpdateMeshProxy() and GetForceMeshProxy().

◆ Synchronize()

void chrono::vehicle::ChVehicleCosimTerrainNode::Synchronize	(	int	step_number,
		double	time
	)

finaloverridevirtual

Synchronize this node.

This function is called at every co-simulation synchronization time to allow the node to exchange information with any other node.

Implements chrono::vehicle::ChVehicleCosimBaseNode.

◆ UpdateMeshProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::UpdateMeshProxy	(	unsigned int	i,
		MeshState &	mesh_state
	)

inlineprotectedvirtual

Update the state of the i-th proxy mesh.

Use information in the provided MeshState struct (vertex positions and velocities expressed in absolute frame).

◆ UpdateRigidProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNode::UpdateRigidProxy	(	unsigned int	i,
		BodyState &	rigid_state
	)

protectedpure virtual

Update the state of the i-th proxy rigid.

Use information in the provided BodyState struct (pose and velocities expressed in absolute frame).

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

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimTerrainNode.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimTerrainNode.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Advance()

◆ GetForceMeshProxy()

◆ GetForceRigidProxy()

◆ GetInitHeight()

◆ GetNumContacts()

◆ Initialize()

◆ OnInitialize()

◆ OnSynchronize()

◆ OutputVisualizationData()

◆ SetDimensions()

◆ SupportsMeshInterface()

◆ Synchronize()

◆ UpdateMeshProxy()

◆ UpdateRigidProxy()