Base class for all tire nodes.
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virtual NodeType | GetNodeType () const override final |
| Return the node type as NodeType::TIRE.
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virtual TireType | GetTireType () const =0 |
| Return the tire type.
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void | EnableTirePressure (bool val) |
| Enable/disable tire pressure (default: true).
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void | SetNumThreads (int num_threads) |
| Set the number of OpenMP threads used in Chrono simulation (default: 1).
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void | SetIntegratorType (ChTimestepper::Type int_type, ChSolver::Type slv_type) |
| Set integrator and solver types.
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virtual void | Initialize () override final |
| Initialize this node.
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virtual void | Synchronize (int step_number, double time) override final |
| Synchronize this node.
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virtual void | OutputData (int frame) override final |
| Output logging and debugging data.
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std::string | GetNodeTypeString () const |
| Return the node type as a string.
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bool | IsCosimNode () const |
| Return true if this node is part of the co-simulation infrastructure.
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void | SetStepSize (double step) |
| Set the integration step size (default: 1e-4).
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double | GetStepSize () const |
| Get the integration step size.
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void | SetOutDir (const std::string &dir_name, const std::string &suffix="") |
| Set the name of the output directory and an identifying suffix.
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void | SetVerbose (bool verbose) |
| Enable/disable verbose messages during simulation (default: true).
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void | EnableRuntimeVisualization (double render_fps=100, bool save_img=false) |
| Enable run-time visualization (default: false).
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void | SetCameraPosition (const ChVector3d &cam_pos, const ChVector3d &cam_target=VNULL) |
| Set camera location and target point.
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void | SetCameraTracking (bool track) |
| Enable/disable tracking of objects (default: true).
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void | EnablePostprocessVisualization (double render_fps=100) |
| Enable Blender postprocessing (default: false).
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const std::string & | GetOutDirName () const |
| Get the output directory name for this node.
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double | GetStepExecutionTime () const |
| Get the simulation execution time for the current step on this node.
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double | GetTotalExecutionTime () const |
| Get the cumulative simulation execution time on this node.
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virtual void | OnRender () |
| Render the current simulation frame.
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virtual void | Advance (double step_size)=0 |
| Advance simulation.
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void | Render (double step_size) |
| Render simulation frame.
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virtual void | OutputVisualizationData (int frame)=0 |
| Output post-processing visualization data.
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virtual void | WriteCheckpoint (const std::string &filename) const |
| Write checkpoint to the specified file (which will be created in the output directory).
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static std::string | GetTireTypeAsString (TireType type) |
| Return a string describing the tire type.
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static TireType | GetTireTypeFromString (const std::string &type) |
| Infer the tire type from the given string.
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static bool | ReadSpecfile (const std::string &specfile, rapidjson::Document &d) |
| Read a JSON specification file for a tire.
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static TireType | GetTireTypeFromSpecfile (const std::string &specfile) |
| Get the tire type from the given JSON specification file.
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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.
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| ChVehicleCosimTireNode (int index, const std::string &tire_json="") |
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virtual InterfaceType | GetInterfaceType () const =0 |
| Specify the type of communication interface (BODY or MESH) required by this the tire node.
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virtual double | GetTireMass () const |
| Return the tire mass.
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virtual double | GetTireRadius () const |
| Return the tire radius.
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virtual double | GetTireWidth () const |
| Return the tire width.
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virtual void | InitializeTire (std::shared_ptr< ChWheel >, const ChVector3d &init_loc)=0 |
| Initialize the tire by attaching it to the provided ChWheel.
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virtual void | ApplySpindleState (const BodyState &spindle_state) |
| Apply the spindle state.
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virtual void | LoadSpindleForce (TerrainForce &spindle_force) |
| Load current spindle force.
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virtual void | ApplySpindleForce (const TerrainForce &spindle_force) |
| Apply the spindle force (BODY communication interface).
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virtual void | LoadMeshState (MeshState &mesh_state) |
| Load current tire mesh state.
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virtual void | ApplyMeshForces (const MeshContact &mesh_contact) |
| Apply the mesh contact forces.
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virtual void | OnOutputData (int frame) |
| Perform additional output at the specified frame (called once per integration step).
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| ChVehicleCosimBaseNode (const std::string &name) |
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void | SendGeometry (const ChVehicleGeometry &geom, int dest) const |
| Utility function to pack and send a struct with geometry information.
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void | RecvGeometry (ChVehicleGeometry &geom, int source) const |
| Utility function to receive and unpack a struct with geometry information.
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void | ProgressBar (unsigned int x, unsigned int n, unsigned int w=50) |
| Utility function to display a progress bar to the terminal.
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ChSystemSMC * | m_system |
| containing system
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ChTimestepper::Type | m_int_type |
| integrator type
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ChSolver::Type | m_slv_type |
| solver type
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std::shared_ptr< ChTimestepperHHT > | m_integrator |
| HHT integrator object.
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bool | m_tire_pressure |
| tire pressure enabled?
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int | m_index |
| index of the tire
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std::shared_ptr< ChBody > | m_spindle |
| spindle body
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std::shared_ptr< ChWheel > | m_wheel |
| wheel subsystem (to which a tire is attached)
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std::shared_ptr< ChTire > | m_tire |
| tire subsystem
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ChVehicleGeometry | m_geometry |
| tire geometry and contact material
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int | m_rank |
| MPI rank of this node (in MPI_COMM_WORLD)
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double | m_step_size |
| integration step size
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std::string | m_name |
| name of the node
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std::string | m_out_dir |
| top-level output directory
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std::string | m_node_out_dir |
| node-specific output directory
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std::ofstream | m_outf |
| output file stream
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bool | m_renderRT |
| if true, perform run-time rendering
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bool | m_renderRT_all |
| if true, render all frames
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double | m_renderRT_step |
| time step between rendered frames
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bool | m_writeRT |
| if true, write images to file
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bool | m_renderPP |
| if true, save data for post-processing
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bool | m_renderPP_all |
| if true, save data at all frames
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double | m_renderPP_step |
| time step between post-processing save frames
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bool | m_track |
| track objects
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ChVector3d | m_cam_pos |
| camera location
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ChVector3d | m_cam_target |
| camera target (lookat) point
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unsigned int | m_num_wheeled_mbs_nodes |
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unsigned int | m_num_tracked_mbs_nodes |
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unsigned int | m_num_terrain_nodes |
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unsigned int | m_num_tire_nodes |
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ChTimer | m_timer |
| timer for integration cost
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double | m_cum_sim_time |
| cumulative integration cost
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bool | m_verbose |
| verbose messages during simulation?
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