chrono::vehicle::ChVehicleCosimTerrainNodeRigid Class Reference

Description

Definition of the rigid terrain node (using Chrono::Multicore).

#include <ChVehicleCosimTerrainNodeRigid.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeRigid:

Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeRigid:

Public Member Functions
	ChVehicleCosimTerrainNodeRigid (double length, double width, ChContactMethod method)
	Create a rigid terrain node using the specified contact method (SMC or NSC).
	ChVehicleCosimTerrainNodeRigid (const std::string &specfile, ChContactMethod method)
	Create a rigid terrain node using the specified contact method (SMC or NSC) and set parameters from the provided JSON specfile.
virtual ChSystem *	GetSystem () override
	Return a pointer to the underlying Chrono system.
void	SetFromSpecfile (const std::string &specfile)
	Set full terrain specification from JSON specfile.
void	SetMaterialSurface (const std::shared_ptr< ChContactMaterial > &mat)
	Set the material properties for terrain. More...
void	UseMaterialProperties (bool flag)
	Specify whether contact coefficients are based on material properties (default: true). More...
void	SetContactForceModel (ChSystemSMC::ContactForceModel model)
	Set the normal contact force model (default: Hertz) Note that this setting is only relevant when using the SMC method.
void	SetProxyContactRadius (double radius)
	Set proxy contact radius (default: 0.01). More...
virtual void	OutputVisualizationData (int frame) override final
	Output post-processing visualization data.
virtual void	OnInitialize (unsigned int num_objects) override
	Initialize this Chrono terrain node. More...
Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono
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.
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.
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).

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono
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...
Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono
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 inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono
	ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method)
	Construct a base class terrain node. More...
virtual void	OnAdvance (double step_size) override
	Advance simulation. 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 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...
Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
	ChVehicleCosimBaseNode (const std::string &name)
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 inherited from chrono::vehicle::ChVehicleCosimTerrainNodeChrono
Type	m_type
	terrain type
ChContactMethod	m_method
	contact method (SMC or NSC)
std::shared_ptr< ChContactMaterial >	m_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< RigidObstacle >	m_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< 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?
Static Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
static const double	m_gacc = -9.81

Member Function Documentation

OnInitialize()

void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::OnInitialize ( unsigned int  num_objects )

overridevirtual

Initialize this Chrono terrain node.

Construct the terrain system and the proxy bodies, then finalize the underlying system.

Reimplemented from chrono::vehicle::ChVehicleCosimTerrainNodeChrono.

SetMaterialSurface()

void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::SetMaterialSurface

(

const std::shared_ptr< ChContactMaterial > &

mat

)

Set the material properties for terrain.

The type of material must be consistent with the contact method (SMC or NSC) specified at construction. These parameters characterize the material for the container and (if applicable) the granular material. Object contact material is received from the rig node.

SetProxyContactRadius()

void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::SetProxyContactRadius ( double  radius )

inline

Set proxy contact radius (default: 0.01).

When using a rigid object mesh, this is a "thickness" for the collision mesh (a non-zero value can improve robustness of the collision detection algorithm). When using a flexible object, this is the radius of the proxy spheres attached to each FEA mesh node.

UseMaterialProperties()

void chrono::vehicle::ChVehicleCosimTerrainNodeRigid::UseMaterialProperties

(

bool

flag

)

Specify whether contact coefficients are based on material properties (default: true).

Note that this setting is only relevant when using the SMC method.

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

• /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeRigid.h
• /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeRigid.cpp