Description

Base class for terrain nodes that use one of the Chrono terrain formulations.

#include <ChVehicleCosimTerrainNodeChrono.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:
Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:

Classes

struct  Proxy
 Base class for a proxy associated with a co-simulation solid. More...
 
struct  ProxyBodySet
 Proxy bodies associated with a co-simulation solid. More...
 
struct  ProxyMesh
 Proxy contact mesh surface associated with a co-simulation solid. More...
 
struct  RigidObstacle
 Specification of a rigid obstacle. More...
 

Public Types

enum  Type {
  Type::RIGID, Type::SCM, Type::GRANULAR_OMP, Type::GRANULAR_GPU,
  Type::GRANULAR_SPH, Type::UNKNOWN
}
 Type of Chrono terrain. More...
 
- 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...
 

Public Member Functions

Type GetType () const
 Return the type of this terrain node.
 
void SetProxyFixed (bool fixed)
 Set the proxy bodies as fixed to ground.
 
virtual double GetInitHeight () const override final
 Return the terrain initial height.
 
void AddRigidObstacle (const RigidObstacle &obstacle)
 Add a rigid obstacle.
 
- Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
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).
 

Static Public Member Functions

static std::string GetTypeAsString (Type type)
 Return a string describing the type of this terrain node.
 
static Type GetTypeFromString (const std::string &type)
 Infer the terrain node type from the given string.
 
static bool ReadSpecfile (const std::string &specfile, rapidjson::Document &d)
 Read a JSON specification file for a Chrono terrain node.
 
static Type GetTypeFromSpecfile (const std::string &specfile)
 Get the terrain type from the given JSON specification file.
 
static ChVector2d GetSizeFromSpecfile (const std::string &specfile)
 Get the terrain dimensions (length and width) from the given JSON specification file.
 
- 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...
 

Protected Member Functions

 ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method)
 Construct a base class terrain node. More...
 
virtual void OnInitialize (unsigned int num_objects) override
 Initialize this Chrono terrain node. More...
 
virtual void OnAdvance (double step_size) override
 Advance simulation. More...
 
virtual ChSystemGetSystem ()=0
 Return a pointer to the underlying Chrono system.
 
virtual void Construct ()=0
 Construct the terrain (independent of the vehicle system).
 
virtual void CreateRigidProxy (unsigned int i)=0
 Create the i-th proxy rigid. More...
 
virtual void CreateMeshProxy (unsigned int i)
 Create the i-th proxy mesh. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
 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 void OnSynchronize (int step_number, double time)
 Perform any additional operations after the data exchange and synchronization with the MBS node. More...
 
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 ChSystemGetSystemPostprocess () const =0
 Get the Chrono system that holds the visualization shapes (used only for post-processing export).
 
void SendGeometry (const ChVehicleGeometry &geom, int dest) const
 Utility function to pack and send a struct with geometry information.
 
void RecvGeometry (ChVehicleGeometry &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

Type m_type
 terrain type
 
ChContactMethod m_method
 contact method (SMC or NSC)
 
std::shared_ptr< ChContactMaterialm_material_terrain
 material properties for terrain bodies
 
double m_init_height
 terrain initial height
 
std::vector< std::shared_ptr< Proxy > > m_proxies
 proxies for solid objects
 
bool m_fixed_proxies
 are proxies fixed to ground?
 
std::vector< RigidObstaclem_obstacles
 list of rigid obstacles
 
- Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNode
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< ChAABBm_aabb
 AABB of collision models for interacting objects.
 
std::vector< ChVehicleGeometrym_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< BodyStatem_rigid_state
 rigid state (used for BODY communication interface)
 
std::vector< MeshContactm_mesh_contact
 mesh contact forces (used for MESH communication interface)
 
std::vector< TerrainForcem_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

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

Member Enumeration Documentation

◆ Type

Type of Chrono terrain.

Enumerator
RIGID 

rigid terrain

SCM 

Soil Contact Model.

GRANULAR_OMP 

granular terrain (Chrono::Multicore)

GRANULAR_GPU 

granular terrain (Chrono::Gpu)

GRANULAR_SPH 

continuous representation of granular terrain (Chrono::FSI)

UNKNOWN 

unknown terrain type

Constructor & Destructor Documentation

◆ ChVehicleCosimTerrainNodeChrono()

chrono::vehicle::ChVehicleCosimTerrainNodeChrono::ChVehicleCosimTerrainNodeChrono ( Type  type,
double  length,
double  width,
ChContactMethod  method 
)
protected

Construct a base class terrain node.

Parameters
typeterrain type
lengthterrain patch length
widthterain patch width
methodcontact method (SMC or NSC)

Member Function Documentation

◆ CreateMeshProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateMeshProxy ( unsigned int  i)
inlineprotectedvirtual

Create the i-th proxy mesh.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ CreateRigidProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateRigidProxy ( unsigned int  i)
protectedpure virtual

Create the i-th proxy rigid.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ OnAdvance()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnAdvance ( double  step_size)
overrideprotectedvirtual

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::ChVehicleCosimTerrainNode.

◆ OnInitialize()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnInitialize ( unsigned int  num_objects)
overrideprotectedvirtual

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.cpp