Tutorials

Dynamic objects of classes with fixed-size vectorizable Eigen object members

• Many of the Chrono classes now have members that are fixed-size vectorizable Eigen types. These classes overload their operator new to generate 16-byte-aligned pointers (using an Eigen-provided macro).
• This takes care of situations where one must dynamically create objects of such classes; for more details, see the Eigen documentation.
• If you need to create STL containers of such classes, you should use a custom allocator that always allocates aligned memory (such as the Eigen-provided Eigen:aligned_allocator); for more details, see the Eigen documentation.
• Finally, this requirement for aligned memory allocation has implications on creation of shared pointers. Indeed, std::make_shared uses placement new instead of operator new. To address this issue and preserve encapsulation (as much as possible), Chrono provides custom replacement functions for make_shared, available in the chrono_types namespace. These functions will automatically infer if they can safely fallback on std::make_shared or else create a shared pointer with an alternative mechanism that ensures use of aligned memory.
  As such, user code should always use chrono_types::make_shared as in

  auto my_body = chrono_types::make_shared<ChBody>();

Chrono modules

• Chrono core tutorials

  Examples of the core features and capabilities of the Chrono library.

• Chrono IRRLICHT module tutorials

  Examples using run-time visualization with the Irrlicht module.

• Chrono MBS module tutorials

  Examples of MBS dynamics in Chrono.

• Chrono FEA tutorials

  Examples of FEA in Chrono.

• Chrono VEHICLE module tutorials

  Examples of modeling and simulating ground vehicles in Chrono.

• Chrono FSI module tutorials

  Examples of fluid-solid interaction problems using the FSI module.

• Chrono POSTPROCESS module tutorials

  Examples of producing postprocessing data (e.g. POVray or GNUplot output).

• Chrono MULTICORE module tutorials

  Examples of using the Multicore module.

• Chrono GPU module tutorials

  Examples of granular dynamics problems using the GPU module.

• Chrono PYTHON module tutorials

  Examples of parsing Python programs.

• Chrono MATLAB module tutorials

  Examples of Matlab inter-operation.

• Chrono socket communication tutorials

  Examples of cosimulation with Simulink.

• Chrono CASCADE module tutorials

  Examples of loading CAD models.

• Chrono OPENGL module tutorials

  Examples of run-time visualization with the OpenGL module.

• Chrono SENSOR module tutorials

  Examples of modeling and simulating sensor for robots and autonomous vehicles in Chrono.

• Chrono SYNCHRONO module tutorials

  Examples of distributed simulation of autonomous vehicles and robots.

• Chrono FMI module tutorials

  Examples of generating (exporting) and using (importing) Chrono FMUs.

• Chrono ROS module tutorials

  Examples of integrating an external ROS-based autonomy stack in Chrono.

Other tools

• PyChrono tutorials

  Learn how to use PyChrono

• Chrono::SolidWorks© tutorials

  Learn how to use Chrono::SolidWorks

Chrono training materials

• Tutorial slides

  Set of tutorial slides for Chrono release 3.0.0

Documentation guides

• Documentation tutorials

  Guidelines on writing technical documentation for Chrono (for developers of new modules/features).