Description

Base class for all tire nodes.

#include <ChVehicleCosimTireNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTireNode:

[legend]

Collaboration diagram for chrono::vehicle::ChVehicleCosimTireNode:

[legend]

Public Types
enum	TireType { TireType::RIGID, TireType::FLEXIBLE, TireType::BYPASS, TireType::UNKNOWN }
	Tire type. 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
virtual NodeType	GetNodeType () const override final
	Return the node type as NodeType::TIRE.

virtual TireType	GetTireType () const =0
	Return the tire type.

void	EnableTirePressure (bool val)
	Enable/disable tire pressure (default: true).

void	SetNumThreads (int num_threads)
	Set the number of OpenMP threads used in Chrono simulation (default: 1).

void	SetIntegratorType (ChTimestepper::Type int_type, ChSolver::Type slv_type)
	Set integrator and solver types. More...

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	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.

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

virtual void	Advance (double step_size)=0
	Advance simulation. More...

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

virtual void	OutputVisualizationData (int frame)=0
	Output post-processing visualization data. 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	GetTireTypeAsString (TireType type)
	Return a string describing the tire type.

static TireType	GetTireTypeFromString (const std::string &type)
	Infer the tire type from the given string.

static bool	ReadSpecfile (const std::string &specfile, rapidjson::Document &d)
	Read a JSON specification file for a tire.

static TireType	GetTireTypeFromSpecfile (const std::string &specfile)
	Get the tire type 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
	ChVehicleCosimTireNode (int index, const std::string &tire_json="")

virtual InterfaceType	GetInterfaceType () const =0
	Specify the type of communication interface (BODY or MESH) required by this the tire node. More...

virtual double	GetTireMass () const
	Return the tire mass.

virtual double	GetTireRadius () const
	Return the tire radius.

virtual double	GetTireWidth () const
	Return the tire width.

virtual void	InitializeTire (std::shared_ptr< ChWheel >, const ChVector3d &init_loc)=0
	Initialize the tire by attaching it to the provided ChWheel. More...

virtual void	ApplySpindleState (const BodyState &spindle_state)
	Apply the spindle state. More...

virtual void	LoadSpindleForce (TerrainForce &spindle_force)
	Load current spindle force. More...

virtual void	ApplySpindleForce (const TerrainForce &spindle_force)
	Apply the spindle force (BODY communication interface). More...

virtual void	LoadMeshState (MeshState &mesh_state)
	Load current tire mesh state. More...

virtual void	ApplyMeshForces (const MeshContact &mesh_contact)
	Apply the mesh contact forces. More...

virtual void	OnOutputData (int frame)
	Perform additional output at the specified frame (called once per integration step).

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
ChSystemSMC *	m_system
	containing system

ChTimestepper::Type	m_int_type
	integrator type

ChSolver::Type	m_slv_type
	solver type

std::shared_ptr< ChTimestepperHHT >	m_integrator
	HHT integrator object.

bool	m_tire_pressure
	tire pressure enabled?

int	m_index
	index of the tire

std::shared_ptr< ChBody >	m_spindle
	spindle body

std::shared_ptr< ChWheel >	m_wheel
	wheel subsystem (to which a tire is attached)

std::shared_ptr< ChTire >	m_tire
	tire subsystem

utils::ChBodyGeometry	m_geometry
	tire geometry and contact material

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

◆ TireType

enum chrono::vehicle::ChVehicleCosimTireNode::TireType

strong

Tire type.

Enumerator
RIGID	rigid tire
FLEXIBLE	flexible tire
BYPASS	bypass (dummy) tire
UNKNOWN	unknown tire type

Member Function Documentation

◆ ApplyMeshForces()

virtual void chrono::vehicle::ChVehicleCosimTireNode::ApplyMeshForces ( const MeshContact & mesh_contact )

inlineprotectedvirtual

Apply the mesh contact forces.

A derived class which implements the MESH communication interface must override this function and must use the MeshContact struct received from the TERRAIN node.

◆ ApplySpindleForce()

virtual void chrono::vehicle::ChVehicleCosimTireNode::ApplySpindleForce ( const TerrainForce & spindle_force )

inlineprotectedvirtual

Apply the spindle force (BODY communication interface).

The TerrainForce struct contains the terrain forces applied to the spindle as received from the TERRAIN node.

◆ ApplySpindleState()

virtual void chrono::vehicle::ChVehicleCosimTireNode::ApplySpindleState ( const BodyState & spindle_state )

inlineprotectedvirtual

Apply the spindle state.

The BodyState struct contains the spindle body state as received from the MBS node.

◆ GetInterfaceType()

virtual InterfaceType chrono::vehicle::ChVehicleCosimTireNode::GetInterfaceType ( ) const

protectedpure virtual

Specify the type of communication interface (BODY or MESH) required by this the tire node.

See ChVehicleCosimBaseNode::InterfaceType.

◆ Initialize()

void chrono::vehicle::ChVehicleCosimTireNode::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.

◆ InitializeTire()

virtual void chrono::vehicle::ChVehicleCosimTireNode::InitializeTire	(	std::shared_ptr< ChWheel >	,
		const ChVector3d &	init_loc
	)

protectedpure virtual

Initialize the tire by attaching it to the provided ChWheel.

A derived class must load m_geometry (collision shape and contact material).

◆ LoadMeshState()

virtual void chrono::vehicle::ChVehicleCosimTireNode::LoadMeshState ( MeshState & mesh_state )

inlineprotectedvirtual

Load current tire mesh state.

A derived class which implements the MESH communication interface must override this function and must load the provided MeshState struct to be sent to the TERRAIN node.

◆ LoadSpindleForce()

virtual void chrono::vehicle::ChVehicleCosimTireNode::LoadSpindleForce ( TerrainForce & spindle_force )

inlineprotectedvirtual

Load current spindle force.

A derived class which implements the MESH communication interface must override this function and must load the provided TerrainForce struct to be sent to the MBS node.

◆ SetIntegratorType()

void chrono::vehicle::ChVehicleCosimTireNode::SetIntegratorType	(	ChTimestepper::Type	int_type,
		ChSolver::Type	slv_type
	)

Set integrator and solver types.

For the MKL solver, use slv_type = ChSolver::Type::CUSTOM.

Parameters

int_type	integrator type (default: HHT)
slv_type	solver type (default:: MKL)

◆ Synchronize()

void chrono::vehicle::ChVehicleCosimTireNode::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.

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

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

Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ TireType

Member Function Documentation

◆ ApplyMeshForces()

◆ ApplySpindleForce()

◆ ApplySpindleState()

◆ GetInterfaceType()

◆ Initialize()

◆ InitializeTire()

◆ LoadMeshState()

◆ LoadSpindleForce()

◆ SetIntegratorType()

◆ Synchronize()