Description

Utility class to parse YAML specification files for Chrono models and simulations.

The parser caches model information and simulation settings from the corresponding YAML input files and then allows populating a Chrono system and setting solver and simulation parameters.

#include <ChParserMbsYAML.h>

Public Member Functions
	ChParserMbsYAML (const std::string &yaml_model_filename, const std::string &yaml_sim_filename, bool verbose=false)
	Create a YAML parser and load the model from the specified input YAML file.

void	SetVerbose (bool verbose)
	Set verbose termsinal output (default: false).

bool	HasSimulationData () const
	Return true if a YAML simulation file has been loaded.

bool	HasModelData () const
	Return true if a YAML model file has been loaded.

void	LoadSimulationFile (const std::string &yaml_filename)
	Load the simulation parameters from the specified input YAML simulation file.

double	GetTimestep () const

double	GetEndtime () const

bool	EnforceRealtime () const

bool	Render () const

double	GetRenderFPS () const

CameraVerticalDir	GetCameraVerticalDir () const

const ChVector3d &	GetCameraLocation () const

const ChVector3d &	GetCameraTarget () const

bool	EnableShadows () const

ChOutput::Type	GetOutputType () const

double	GetOutputFPS () const

std::shared_ptr< ChSystem >	CreateSystem ()
	Create and return a Chrono system configured from cached simulation parameters. More...

void	SetSimulationParameters (ChSystem &sys)
	Set solver and integrator settings from cached values. More...

void	LoadModelFile (const std::string &yaml_filename)
	Load the model from the specified input YAML model file.

const std::string &	GetName () const
	Return the name of the YAML model.

int	Populate (ChSystem &sys, const ChFramed &model_frame=ChFramed(), const std::string &model_prefix="")
	Populate the given system with the cached Chrono components. More...

void	Depopulate (ChSystem &sys, int instance_index)
	Remove from the specified system the Chrono objects from the specified instance.

bool	Output () const
	Return true if generating output.

void	SetOutputDir (const std::string &out_dir)
	Set root output directory (default: "").

void	SaveOutput (ChSystem &sys, int frame)
	Save simulation output results at the current time.

Static Public Member Functions
static ChVector3d	ReadVector (const YAML::Node &a)
	Load and return a ChVector3d from the specified node.

static ChQuaterniond	ReadQuaternion (const YAML::Node &a)
	Load and return a ChQuaternion from the specified node.

static ChQuaterniond	ReadCardanAngles (const YAML::Node &a, bool use_degrees)
	Load a Cardan angle sequence from the specified node and return as a quaternion. More...

static ChQuaterniond	ReadRotation (const YAML::Node &a, bool use_degrees)
	Return a quaternion loaded from the specified node. More...

static ChCoordsysd	ReadCoordinateSystem (const YAML::Node &a, bool use_degrees)
	Load and return a coordinate system from the specified node.

static ChColor	ReadColor (const YAML::Node &a)
	Load and return a ChColor from the specified node.

Friends
class	ChParserFsiYAML

Member Function Documentation

◆ CreateSystem()

std::shared_ptr< ChSystem > chrono::parsers::ChParserMbsYAML::CreateSystem ( )

Create and return a Chrono system configured from cached simulation parameters.

If no YAML simulation file was loaded, this function returns a ChSystemNSC with default settings.

◆ Populate()

int chrono::parsers::ChParserMbsYAML::Populate	(	ChSystem &	sys,
		const ChFramed &	model_frame = `ChFramed()`,
		const std::string &	model_prefix = `""`
	)

Populate the given system with the cached Chrono components.

An instance of the underlying Chrono model can be created at the specified frame (relative to the global frame), with all Chrono object names using the specified prefix. Throws an error if no YAML model file was loaded.

◆ ReadCardanAngles()

ChQuaterniond chrono::parsers::ChParserMbsYAML::ReadCardanAngles	(	const YAML::Node &	a,
		bool	use_degrees
	)

static

Load a Cardan angle sequence from the specified node and return as a quaternion.

The sequence is assumed to be extrinsic rotations X-Y-Z.

◆ ReadRotation()

ChQuaterniond chrono::parsers::ChParserMbsYAML::ReadRotation	(	const YAML::Node &	a,
		bool	use_degrees
	)

static

Return a quaternion loaded from the specified node.

Data is assumed to provide a quaternion or a Cardan extrinsic X-Y-Z angle set.

◆ SetSimulationParameters()

void chrono::parsers::ChParserMbsYAML::SetSimulationParameters ( ChSystem & sys )

Set solver and integrator settings from cached values.

If no YAML simulation file was loaded, this function is a no-op.

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

/builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserMbsYAML.h
/builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserMbsYAML.cpp