chrono::vehicle::ChVehicleCosimRigNode Class Reference


Mechanism for a single-wheel testing rig.

The mechanism system is co-simulated with a tire and a terrain system.

#include <ChVehicleCosimRigNode.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimRigNode:
Collaboration diagram for chrono::vehicle::ChVehicleCosimRigNode:

Public Member Functions

void SetTotalMass (double mass)
 Set total rig system mass (default: 100). More...
void SetToeAngle (double angle)
 Set (constant) toe angle in radians (default: 0).
void SetInitialLocation (const ChVector<> &init_loc)
 Set the initial rig position, relative to the center of the terrain top-surface. More...
- Public Member Functions inherited from chrono::vehicle::ChVehicleCosimWheeledMBSNode
virtual NodeType GetNodeType () const override
 Return the node type as NodeType::MBS_WHEELED.
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...
void SetChassisFixed (bool val)
 Fix the chassis to ground (default: false).
void AttachDrawbarPullRig (std::shared_ptr< ChVehicleCosimDBPRig > rig)
 Attach a drawbar pull rig to the MBS system.
std::shared_ptr< ChVehicleCosimDBPRigGetDrawbarPullRig () const
 Return the drawbar-pull rig, if one is attached.
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.
virtual void OutputVisualizationData (int frame) override final
 Output post-processing visualization 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 ChVector<> &cam_pos, const ChVector<> &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...
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::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::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::ChVehicleCosimWheeledMBSNode
 ChVehicleCosimWheeledMBSNode ()
 Construct a base class wheeled MBS node.
virtual void PreAdvance (double step_size)
 Perform any required operations before advancing the state of the MBS. More...
virtual void PostAdvance (double step_size)
 Perform any required operations after advancing the state of the MBS. More...
- Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
 ChVehicleCosimBaseNode (const std::string &name)
void SendGeometry (const ChVehicleGeometry &geom, int dest) const
 Utility function to pack and send a struct with geometry information.
void RecvGeometry (ChVehicleGeometry &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::ChVehicleCosimWheeledMBSNode
 containing system
ChTimestepper::Type m_int_type
 integrator type
ChSolver::Type m_slv_type
 solver type
std::shared_ptr< ChTimestepperHHTm_integrator
 HHT integrator object.
std::shared_ptr< ChVehicleCosimDBPRigm_DBP_rig
 DBP rig.
std::ofstream m_DBP_outf
 DBP output file stream.
- 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
ChVector m_cam_pos
 camera location
ChVector 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

◆ SetInitialLocation()

void chrono::vehicle::ChVehicleCosimRigNode::SetInitialLocation ( const ChVector<> &  init_loc)

Set the initial rig position, relative to the center of the terrain top-surface.

This is the initial location of the spindle.

◆ SetTotalMass()

void chrono::vehicle::ChVehicleCosimRigNode::SetTotalMass ( double  mass)

Set total rig system mass (default: 100).

This represents the equivalent load on the soil from all rig bodies. Note that the total mass must be at least 2 kg; otherwise, it will be overwritten.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/mbs/ChVehicleCosimRigNode.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/mbs/ChVehicleCosimRigNode.cpp