chrono::parsers::ChParserVehicleYAML Class Reference
Description
Parser for YAML specification file for Chrono::Vehicle models.
Supports both wheeled and tracked vehicles (defined through JSON specification files).
#include <ChParserVehicleYAML.h>
Inheritance diagram for chrono::parsers::ChParserVehicleYAML:
Collaboration diagram for chrono::parsers::ChParserVehicleYAML:
Public Types | |
| enum | VehicleType { WHEELED, TRACKED } |
 Public Types inherited from chrono::parsers::ChParserYAML | |
| enum | YamlFileType { MBS, SPH, TDPF, FSI, VEHICLE, CUSTOM } |
Type of a Chrono YAML specification file, as declared by its type key. More... | |
Public Member Functions | |
| ChParserVehicleYAML (const std::string &yaml_filename, bool verbose=false) | |
| bool | HasModelData () const |
| Return true if a YAML model file has been loaded. | |
| virtual void | LoadFile (const std::string &yaml_filename) override |
| Load the specified MBS simulation input YAML file. | |
| virtual void | LoadModelData (const YAML::Node &yaml) override |
| Load the vehicle model from the specified YAML node. | |
| void | CreateVehicle (ChSystem &sys) |
| Populate the given system with the cached Chrono::Vehicle model. | |
| VehicleType | GetVehicleType () const |
| Get vehicle type (from specified vehicleJSON file). | |
| std::string | GetVehicleTypeAsString () const |
| Get vehicle type as a string. | |
| std::shared_ptr< vehicle::ChVehicle > | GetVehicle () const |
| Return the underlying vehicle model. | |
| std::shared_ptr< vehicle::RigidTerrain > | GetTerrain () const |
| Return the underlying rigid terrain (may be null). | |
| const ChVector3d & | GetChassisPoint () const |
| double | GetChaseDistance () const |
| double | GetChaseHeight () const |
| Public Member Functions inherited from chrono::parsers::ChParserMbsYAML | |
| ChParserMbsYAML (bool verbose=false) | |
| ChParserMbsYAML (const std::string &yaml_filename, bool verbose=false) | |
| bool | HasSolverData () const |
| Return true if a YAML solver file has been loaded. | |
| bool | HasModelData () const |
| Return true if a YAML model file has been loaded. | |
| virtual void | LoadSimData (const YAML::Node &yaml) override |
| Load the simulation, output, and visualization settings from the specified YAML node. | |
| virtual void | LoadSolverData (const YAML::Node &yaml) |
| Load the solver parameters from the specified YAML node. | |
| 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... | |
| double | GetTimestep () const |
| double | GetEndtime () const |
| bool | EnforceRealtime () const |
| 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. | |
| int | GetNumInstances () const |
| Return the number of instances created from the YAML model file. | |
| std::shared_ptr< ChBodyAuxRef > | FindBodyByName (const std::string &name) const |
| Find and return the body with specified name, in the current model instance. | |
| std::shared_ptr< ChBodyAuxRef > | FindBodyByName (const std::string &name, int model_instance) const |
| Find and return the body with specified name, in the given model instance. | |
| std::vector< std::shared_ptr< ChBodyAuxRef > > | FindBodiesByName (const std::string &name) const |
| Find and return bodies with given base name from all model instances. | |
| std::shared_ptr< ChLinkMotor > | FindMotorByName (const std::string &name) const |
| Find and return the motor with specified name, in the current model instance. | |
| std::shared_ptr< ChLinkMotor > | FindMotorByName (const std::string &name, int model_instance) const |
| Find and return the motor with specified name, in the given model instance. | |
| std::vector< std::shared_ptr< ChLinkMotor > > | FindMotorsByName (const std::string &name) const |
| Find and return motors with given base name from all model instances. | |
| void | AttachLoadController (std::shared_ptr< ChLoadController > controller, const std::string &name, int model_instance) |
| Attach the external controller for the load controller with given name. More... | |
| void | AttachMotorController (std::shared_ptr< ChMotorController > controller, const std::string &name, int model_instance) |
| Attach the external controller for the motor controller with given name. More... | |
| void | DoStepDynamics () |
| Advance dynamics of the multibody system. More... | |
| void | ApplyLoadControllerLoads (const LoadControllerLoads &controller_loads) |
| Apply loads generated by the load controllers in the given list. More... | |
| void | ApplyMotorControllerActuations (const MotorControllerActuations &controller_loads) |
| Apply actuations generated by the motor controllers in the given list. More... | |
| virtual void | WriteOutput (int frame, double time) override |
| Write simulation output results at the current time. | |
| Public Member Functions inherited from chrono::parsers::ChParserYAML | |
| void | SetVerbose (bool verbose) |
| Set verbose terminal output (default: false). | |
| virtual void | SetOutputDir (const std::string &out_dir) |
| Set root output directory (default: "."). More... | |
| const std::string & | GetName () const |
| Return the name of the YAML model. | |
| virtual bool | OutputEnabled () const |
| Return true if generating output. | |
| const ChOutput::Settings & | GetOutputSettings () const |
| Return all output settings. | |
| ChOutput::Format | GetOutputFormat () const |
| Return the output type. | |
| ChOutput::Mode | GetOutputMode () const |
| Return the output mode. | |
| virtual double | GetOutputFPS () const |
| Return the output frequency. | |
| virtual bool | VisualizationEnabled () const |
| Return true if visualization is enabled. | |
| const ChVisualSystem::Settings & | GetVisualizationSettings () const |
| Return all visualization settings. | |
| double | GetRenderFPS () const |
| CameraVerticalDir | GetCameraVerticalDir () const |
| const ChVector3d & | GetCameraLocation () const |
| const ChVector3d & | GetCameraTarget () const |
| bool | EnableShadows () const |
| bool | WriteImages () const |
| const std::string & | GetImageDir () const |
| virtual void | Output (double time) |
| Generate output at the current frame. More... | |
| virtual bool | Render (ChVisualSystem &vis, double time) |
| Render the current frame using the specified visual system if run-time visualization is available and enabled. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from chrono::parsers::ChParserYAML | |
| static YamlFileType | ReadYamlFileType (const std::string &yaml_filename) |
| Peek in the specified YAML file and read the declared file type. More... | |
| Static Protected Member Functions inherited from chrono::parsers::ChParserYAML | |
| static YamlFileType | ReadYamlFileType (const YAML::Node &a) |
| Read the YAML file type from the given node. More... | |
| Protected Attributes inherited from chrono::parsers::ChParserYAML | |
| std::string | m_name |
| name of the YAML model | |
| bool | m_verbose |
| verbose terminal output (default: false) | |
| bool | m_use_degrees |
| all angles given in degrees (default: true) | |
| ChVisualSystem::Settings | m_vis_settings |
| visualization settings | |
| ChOutput::Settings | m_output_settings |
| output settings | |
| std::string | m_output_dir |
| root output directory | |
| std::shared_ptr< ChOutput > | m_output_db |
| output database | |
| ChYamlFileHandler | m_file_handler |
| handler for data file paths | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserVehicleYAML.h
- /builds/uwsbel/chrono/src/chrono_parsers/yaml/ChParserVehicleYAML.cpp
