Description

Parser for YAML specification files for Chrono::Vehicle single-wheel test rig simulations (ChWheelTestRig).

A WHEEL_RIG simulation specification file references a rig mechanism file (wheel assembly, rig properties, and MBS solver) and a terrain file (terrain type, patch, parameters, and, for CRM terrain, the SPH solver), and specifies the test scenario and the wheel-terrain coupling settings. The wheel assembly is either a Chrono::Vehicle wheel, tire, and (optional) suspension specified through JSON files (VEHICLE model type), or a custom wheel assembly provided by the application (CUSTOM model type) through a factory registered with RegisterWheelAssembly.

#include <ChParserWheelRigYAML.h>

Inheritance diagram for chrono::parsers::ChParserWheelRigYAML:

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Collaboration diagram for chrono::parsers::ChParserWheelRigYAML:

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Public Types
using	WheelAssemblyFactory = std::function< std::shared_ptr< vehicle::ChWheelTestRig::WheelAssembly >(ChSystem &sys, const YAML::Node &parameters)>
	Factory for a custom wheel assembly. More...

Public Types inherited from chrono::parsers::ChParserYAML
enum	YamlFileType { MBS, SPH, TDPF, FSI, VEHICLE, WHEEL_RIG, CUSTOM }
	Type of a Chrono YAML specification file, as declared by its `type` key. More...

Public Member Functions
	ChParserWheelRigYAML (const std::string &yaml_filename, bool verbose=false)

void	RegisterWheelAssembly (const std::string &name, WheelAssemblyFactory factory)
	Register a factory for custom wheel assemblies with the given name. More...

bool	IsCustomAssembly () const
	Return true if the rig model specifies a custom wheel assembly.

const std::string &	GetAssemblyName () const
	Return the name of the custom wheel assembly (empty for a VEHICLE model type).

std::string	GetDataFile (const std::string &filename) const
	Return the full path of a data file specified relative to the data path of the rig model specification. More...

virtual void	LoadFile (const std::string &yaml_filename) override
	Load the specified WHEEL_RIG simulation specification file (and the rig and terrain files it references).

std::shared_ptr< vehicle::ChWheelTestRig >	CreateRig (ChSystem &sys)
	Create the single-wheel test rig in the given system from the cached specification, then initialize it. More...

std::shared_ptr< vehicle::ChWheelTestRig >	GetRig () const
	Return the test rig (null if not yet created).

vehicle::ChWheelTestRig::TerrainType	GetTerrainType () const
	Return the terrain type.

double	GetRigStep () const
	Return the rig step, i.e., the interval for each call to ChWheelTestRig::Advance. More...

bool	StopAtPatchEnd () const
	Return true if the simulation should end when the wheel reaches the end of the terrain patch. More...

virtual bool	OutputEnabled () const override
	Return true if generating output, i.e., writing an output database or recording data for plots.

bool	PlotsEnabled () const
	Return true if plots were requested (in the `plots` section of the simulation specification).

virtual void	WriteOutput (int frame, double time) override
	Write the rig output channels (see ChWheelTestRig::GetOutputChannels) at the current time and record them for plotting (if plots were requested). More...

void	GeneratePlots ()
	Generate the requested plots from the data recorded during the simulation. More...

const ChVector3d &	GetCameraOffset () const
	Return the camera location relative to the wheel hub position.

const ChVector3d &	GetCameraTargetOffset () const
	Return the camera look-at point relative to the wheel hub position.

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	LoadModelData (const YAML::Node &yaml)
	Load the MBS model 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

const ChVector3d &	GetGravitationalAcceleration () const

VisualizationType	GetVisualizationType () 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...

const ChAssembly::Components &	GetOutputComponents () const
	Get the model components included in output (from all model instances populated so far).

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.

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

Member Typedef Documentation

◆ WheelAssemblyFactory

using chrono::parsers::ChParserWheelRigYAML::WheelAssemblyFactory = std::function<std::shared_ptr<vehicle::ChWheelTestRig::WheelAssembly>(ChSystem& sys, const YAML::Node& parameters)>

Factory for a custom wheel assembly.

The factory is invoked with the containing system and the parameters node of the rig model specification (an undefined node if no parameters are specified) and must return a wheel assembly constructed in that system.

Member Function Documentation

◆ CreateRig()

std::shared_ptr< vehicle::ChWheelTestRig > chrono::parsers::ChParserWheelRigYAML::CreateRig ( ChSystem & sys )

Create the single-wheel test rig in the given system from the cached specification, then initialize it.

The system should be created with CreateSystem().

◆ GeneratePlots()

void chrono::parsers::ChParserWheelRigYAML::GeneratePlots ( )

Generate the requested plots from the data recorded during the simulation.

For each figure, a Gnuplot script is written to the output directory and executed, producing an image file or an interactive window. This function must be called once, at the end of the simulation; it does nothing if no plots were requested. Plotting requires the Chrono::Postprocess module and Gnuplot.

◆ GetDataFile()

std::string chrono::parsers::ChParserWheelRigYAML::GetDataFile ( const std::string & filename ) const

inline

Return the full path of a data file specified relative to the data path of the rig model specification.

This can be used by custom wheel assembly factories to locate their data files.

◆ GetRigStep()

double chrono::parsers::ChParserWheelRigYAML::GetRigStep ( ) const

inline

Return the rig step, i.e., the interval for each call to ChWheelTestRig::Advance.

With CRM terrain, this is the FSI coupling step.

◆ RegisterWheelAssembly()

void chrono::parsers::ChParserWheelRigYAML::RegisterWheelAssembly	(	const std::string &	name,
		WheelAssemblyFactory	factory
	)

Register a factory for custom wheel assemblies with the given name.

A rig model of CUSTOM type uses the factory registered under the name specified as model.assembly. Factories must be registered before calling CreateRig.

◆ StopAtPatchEnd()

bool chrono::parsers::ChParserWheelRigYAML::StopAtPatchEnd ( ) const

inline

Return true if the simulation should end when the wheel reaches the end of the terrain patch.

See ChWheelTestRig::PatchEndReached.

◆ WriteOutput()

void chrono::parsers::ChParserWheelRigYAML::WriteOutput	(	int	frame,
		double	time
	)

overridevirtual

Write the rig output channels (see ChWheelTestRig::GetOutputChannels) at the current time and record them for plotting (if plots were requested).

The output directory must be set (SetOutputDir) and the rig created (CreateRig) before generating output.

Reimplemented from chrono::parsers::ChParserMbsYAML.

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

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

Description

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ WheelAssemblyFactory

Member Function Documentation

◆ CreateRig()

◆ GeneratePlots()

◆ GetDataFile()

◆ GetRigStep()

◆ RegisterWheelAssembly()

◆ StopAtPatchEnd()

◆ WriteOutput()