Description

Collaboration diagram for Input/output:

Classes
class	chrono::ChCheckpoint
	Base class for a Chrono checkpoint database. More...

class	chrono::ChCheckpointASCII
	ASCII text Chrono checkpoint database. More...

class	chrono::ChOutput
	Base class for a Chrono output database. More...

class	chrono::ChOutputASCII
	ASCII text Chrono output database. More...

class	chrono::ChOutputHDF5
	HDF5 Chrono output database. More...

class	chrono::ChMapData
	Utility class for reading and setting an (x,y) map. More...

class	chrono::ChYamlFileHandler
	Utility class for handling data paths in YAML specification files. More...

class	chrono::ChWriterCSV
	General output to a Comma-Separated Values ASCII file. More...

Functions
bool	chrono::utils::WriteBodyShapesCheckpoint (ChSystem *system, const std::string &filename)
	Create a CSV file with a checkpoint of bodies and collision shapes. More...

void	chrono::utils::ReadBodyShapesCheckpoint (ChSystem *system, const std::string &filename)
	Read a CSV file with a checkpoint of bodies and collision shapes. More...

void	chrono::utils::WriteVisualizationAssets (ChSystem *system, const std::string &filename, bool body_info=true, const std::string &delim=",")
	Write CSV output file with body and asset information for off-line visualization. More...

void	chrono::utils::WriteVisualizationAssets (ChSystem *system, const std::string &filename, std::function< bool(const ChBody &)> selector, bool body_info=true, const std::string &delim=",")
	Write CSV output file with body and asset information for off-line visualization. More...

void	chrono::utils::WriteMeshPovray (ChTriangleMeshConnected &trimesh, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool smoothed=false)
	Write the specified mesh as a macro in a PovRay include file. More...

bool	chrono::utils::WriteMeshPovray (const std::string &obj_filename, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
	Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file. More...

void	chrono::utils::WriteCurvePovray (const ChBezierCurve &curve, const std::string &curve_name, const std::string &out_dir, double radius=0.03, const ChColor &col=ChColor(0.8f, 0.8f, 0.2f))
	Write the specified Bezier curve as a macro in a PovRay include file.

ChApi void	chrono::ReadFileJSON (const std::string &filename, rapidjson::Document &d)
	Load and return a RapidJSON document from the specified file. More...

ChApi ChVector3d	chrono::ReadVectorJSON (const rapidjson::Value &a)
	Load and return a ChVector3d from the specified JSON array.

ChApi ChQuaternion	chrono::ReadQuaternionJSON (const rapidjson::Value &a)
	Load and return a ChQuaternion from the specified JSON array.

ChApi ChCoordsys	chrono::ReadCoordinateSystemJSON (const rapidjson::Value &a)
	Load and return a coordinate system from the specific JSON value.

ChApi ChFrame	chrono::ReadFrameJSON (const rapidjson::Value &a)
	Load and return a ChFrame from the specified JSON array.

ChApi ChColor	chrono::ReadColorJSON (const rapidjson::Value &a)
	Load and return a ChColor from the specified JSON array.

ChContactMaterialData	chrono::ReadMaterialInfoJSON (const rapidjson::Value &mat)

std::shared_ptr< ChJoint::BushingData >	chrono::ReadBushingDataJSON (const rapidjson::Value &bd)

ChApi ChJoint::Type	chrono::ReadJointTypeJSON (const rapidjson::Value &a)
	Load and return a joint type from the specific JSON value.

utils::ChBodyGeometry	chrono::ReadBodyGeometryJSON (const rapidjson::Value &d)
	Load and return a body geometry structure from the specified JSON value. More...

utils::ChTSDAGeometry	chrono::ReadTSDAGeometryJSON (const rapidjson::Value &d)
	Load and return a TSDA geometry structure from the specified JSON value.

std::shared_ptr< ChLinkTSDA::ForceFunctor >	chrono::ReadTSDAFunctorJSON (const rapidjson::Value &tsda, double &free_length)

std::shared_ptr< ChLinkRSDA::TorqueFunctor >	chrono::ReadRSDAFunctorJSON (const rapidjson::Value &rsda, double &free_angle)

void	chrono::CheckVersion (const YAML::Node &a)
	Check the version specified in the given YAML node against the Chrono version. More...

ChVector3d	chrono::ReadVector (const YAML::Node &a)
	Load and return a ChVector3d from the specified node.

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

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

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

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

std::shared_ptr< ChFunction >	chrono::ReadFunction (const YAML::Node &a, bool use_degrees)
	Load and return a ChFunction object from the specified node.

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

ChColormap::Type	chrono::ReadColorMapType (const YAML::Node &a)
	Load and return a ChColor from the specified node.

VisualizationType	chrono::ReadVisualizationType (const YAML::Node &a)
	Load and return a VisualizationType from the specified node.

ChOutput::Type	chrono::ReadOutputType (const YAML::Node &a)
	Load and return the output type from the specified node.

ChOutput::Mode	chrono::ReadOutputMode (const YAML::Node &a)
	Load and return the output mode from the specified node.

ChSolver::Type	chrono::ReadSolverType (const YAML::Node &a)
	Load and return the solver type from the specified node.

ChTimestepper::Type	chrono::ReadIntegratorType (const YAML::Node &a)
	Load and return the integrator type from the specified node.

void	chrono::PrintNodeType (const YAML::Node &node)
	Print YAML node type.

template<typename T >
ChWriterCSV &	chrono::operator<< (ChWriterCSV &out, const ChVector3< T > &v)

template<typename T >
ChWriterCSV &	chrono::operator<< (ChWriterCSV &out, const ChQuaternion< T > &q)

ChWriterCSV &	chrono::operator<< (ChWriterCSV &out, const ChColor &c)

template<typename T >
ChWriterCSV &	chrono::operator<< (ChWriterCSV &out, const std::vector< T > &vec)

Function Documentation

◆ CheckVersion()

ChApi void chrono::CheckVersion ( const YAML::Node & a )

Check the version specified in the given YAML node against the Chrono version.

Throw an exception if the versions are incompatible.

◆ ReadBodyGeometryJSON()

ChApi utils::ChBodyGeometry chrono::ReadBodyGeometryJSON ( const rapidjson::Value & d )

Load and return a body geometry structure from the specified JSON value.

Collision geometry and contact material information is set in the return ChBodyGeometry object if the given JSON object has a member "Contact". Visualization geometry is loaded if the JSON object has a member "Visualization". Note that file names for collision and visualization geometry are assumed to be relative to the Chrono data directory.

◆ ReadBodyShapesCheckpoint()

ChApi void chrono::utils::ReadBodyShapesCheckpoint	(	ChSystem *	system,
		const std::string &	filename
	)

Read a CSV file with a checkpoint of bodies and collision shapes.

This function creates bodies in the given Chrono system using states and collision shapes read from the checkpoint file with given name (assumed to have been produced with WriteBodyShapesCheckpoint). This is a specialized checkpointing function suitable for DEM simulations (e.g., with Chrono::Multicore). Note that only body states are checkpointed and therefore this function should not be used for Chrono multibody systems.

◆ ReadCardanAngles()

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

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.

◆ ReadFileJSON()

ChApi void chrono::ReadFileJSON	(	const std::string &	filename,
		rapidjson::Document &	d
	)

Load and return a RapidJSON document from the specified file.

A Null document is returned if the file cannot be opened.

◆ ReadRotation()

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

Return a quaternion loaded from the specified node.

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

◆ WriteBodyShapesCheckpoint()

ChApi bool chrono::utils::WriteBodyShapesCheckpoint	(	ChSystem *	system,
		const std::string &	filename
	)

Create a CSV file with a checkpoint of bodies and collision shapes.

This is a specialized checkpointing function suitable for DEM simulations (e.g., with Chrono::Multicore). Note that only body states are checkpointed and therefore this function should not be used for Chrono multibody systems.

◆ WriteMeshPovray() [1/2]

ChApi void chrono::utils::WriteMeshPovray	(	ChTriangleMeshConnected &	trimesh,
		const std::string &	mesh_name,
		const std::string &	out_dir,
		const ChColor &	color = `ChColor(0.4f, 0.4f, 0.4f)`,
		const ChVector3d &	pos = `ChVector3d(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		bool	smoothed = `false`
	)

Write the specified mesh as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteMeshPovray() [2/2]

ChApi bool chrono::utils::WriteMeshPovray	(	const std::string &	obj_filename,
		const std::string &	mesh_name,
		const std::string &	out_dir,
		const ChColor &	color = `ChColor(0.4f, 0.4f, 0.4f)`,
		const ChVector3d &	pos = `ChVector3d(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`
	)

Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteVisualizationAssets() [1/2]

ChApi void chrono::utils::WriteVisualizationAssets	(	ChSystem *	system,
		const std::string &	filename,
		bool	body_info = `true`,
		const std::string &	delim = `","`
	)

Write CSV output file with body and asset information for off-line visualization.

(1) The first line of the output file contains:

the number of bodies (0 if no body information is included below)
the number of visual assets
the number of links
the number of TSDA spring-dampers (2) If the number of bodies is not zero, the next block of lines includes information about the rigid bodies. Each line contains 9 values:
the body identifier
a flag (1 or 0) indicating whether the body is active or not
the body position expressed in global frame
the body orientation (as a quaternion, expressed in global frame) (3) The next block of lines includes information about the visual assets. Each line contains:
the identifier of the associated body
a flag (1 or 0) indicating whether the body is active or not
the asset position expresssed in global frame
the asset orientation (as a quaternion, expressed in global frame)
the visualization asset type (an enum value)
geometry information depending on the type above (4) The next block of lines includes information about the joints. Each line contains:
the joint type (an enum value)
joint position and orientation information depending on the type above (5) The next block of lines includes information about TSDA elements. Each line contains:
the type of visual asset (0 for segment or 1 for coil)
start point position
end point position

Parameters

system	containing system
filename	output file name
body_info	include body state information
delim	CSV delimitator

◆ WriteVisualizationAssets() [2/2]

ChApi void chrono::utils::WriteVisualizationAssets	(	ChSystem *	system,
		const std::string &	filename,
		std::function< bool(const ChBody &)>	selector,
		bool	body_info = `true`,
		const std::string &	delim = `","`
	)