Description

Namespace for SynChrono.

Classes
class	SynAgent
	Base class for SynChrono agents. More...
class	SynAgentFactory
	Generates SynTerrain's from JSON files Used to improve generality in Agent classes. More...
class	SynCopterAgent
	Agent wrapper of a copter model, sends out SynCopterMessage-s to synchronize its state. More...
class	SynEnvironmentAgent
	Derived agent class. Acts as a traffic light and distributes MAP and/or SPAT data. More...
class	SynSCMTerrainAgent
	Class that wraps and synchronizes deformable terrain between Chrono Systems. More...
struct	SCMParameters
	Groups SCM parameters into a struct, defines some useful defaults See SCMTerrain::SetSoilParameters and SoilParametersCallback for more details on these. More...
class	SynTrackedVehicleAgent
	Agent wrapper of a tracked vehicle, in particular holds a pointer to a ChTrackedVehicle and sends out SynTrackedVehicleMessage-s to synchronize its state. More...
class	SynWheeledVehicleAgent
	Agent wrapper of a wheeled vehicle, in particular holds a pointer to a ChWheeledVehicle and sends out SynWheeledVehicleMessage-s to synchronize its state. More...
class	SynDDSCommunicator
	Derived communicator used to establish and facilitate communication between nodes. More...
class	SynDDSThreadSafeCounter
	Thread safe counter used to count various elements Use case would be to block until a certain number of elements. More...
class	SynDDSParticipantListener
	Participant listener that will count the number of participants and store their names to be used later. More...
class	SynDDSDataWriterListener
	Data writer listener that counts number of subscribers listening to a specific topic. More...
class	SynDDSDataReaderListener
	Data reader listener that can both count publishers on a topic and can be used as an asynchronous listener. More...
class	SynDDSPublisher
	DDS publisher wrapper. Sends information on a topic. More...
class	SynDDSSubscriber
	DDS subscriber wrapper. Listens for information on a topic. More...
class	SynDDSTopic
	Describes information that's being distributed over an abstract "wire" Includes data type and meta information (i.e. More...
class	SynMPICommunicator
	Derived communicator used to establish and facilitate communication between nodes. More...
class	SynCommunicator
	Base class communicator used to establish and facilitate communication between nodes. More...
class	ChMultiplePathSteeringController
	Concrete path-following steering PID controller with multiple path support. More...
class	ChMultiPathFollowerACCDriver
	A driver model that is very similar with ChPathFollowerACCDriver but it uses multiple path steering controllers. More...
struct	ApproachLane
	Lane that is grouped into an approach with other ApproachLanes. More...
class	SynApproachMessage
	Approach message. More...
class	SynCopterStateMessage
	State class that holds state information for a SynCopter. More...
class	SynCopterDescriptionMessage
	Description class that holds description information for a SynCopter. More...
class	SynEnvironmentMessage
	The environment agent state class This should be inherited and stored with additional state information relevant to the environment agent Should hold frequently passed data, such as synchronization information For infrequently passed data, please see SynAgentDescriptionMessage. More...
struct	Intersection
	Contains some number of approaches - see ApproachMessage. More...
class	SynMAPMessage
	Store the Map information in the simulation. More...
class	SynMessage
	SynMessage is the base class for all messages Basically wraps the FlatBuffer methods to better handle the SynChrono message passing system Will be inherited from to create new message types. More...
class	SynMessageFactory
	Called by CommunicationManager to transform an incoming SynFlatBuffers::Message into a SynMessage. More...
class	SynPose
	Wrapper for several constructs that are common to many flatbuffer messages (Vectors, Quaternions, frames). More...
class	SynSCMMessage
	SCM Message. More...
class	SynSimulationMessage
	This class contains diagnostic and simulation configuration based information that is typically passed between CommunicationManagers in the initialization phase. More...
struct	IntersectionLane
	Lane for the purpose of SPAT messages (i.e. something that can have its light color change). More...
class	SynSPATMessage
	SPAT Message. More...
class	SynTrackedVehicleStateMessage
	State class that holds state information for a SynTrackedVehicleAgent. More...
class	SynTrackedVehicleDescriptionMessage
	Description class that holds description information for a SynTrackedVehicle. More...
class	SynWheeledVehicleStateMessage
	State class that holds state information for a SynWheeledVehicle. More...
class	SynWheeledVehicleDescriptionMessage
	Description class that holds description information for a SynWheeledVehicle. More...
class	SynFlatBuffersManager
	Helper class that wraps the flatbuffers::FlatBufferBuilder. More...
class	SynChronoManager
	Base class responsible for handling agents and synchronizing states between nodes. More...
class	GPScoord
	Wrapper class around vector stores GPS points as (lat, long, alt) in degrees. More...
class	SynGPSTools
	Holds a SynTerrain along with the GPS coordinate mapped to the origin of the vector space. More...

Typedefs
typedef std::vector< std::shared_ptr< SynAgent > >	SynAgentList
	Vector of handles to agents.
typedef std::vector< std::shared_ptr< SynDDSPublisher > >	PublisherList
typedef std::vector< std::shared_ptr< SynDDSSubscriber > >	SubscriberList
typedef std::map< std::string, std::shared_ptr< SynDDSTopic > >	TopicMap
typedef std::vector< std::shared_ptr< SynDDSTopic > >	TopicList
typedef flatbuffers::Offset< SynFlatBuffers::Message >	FlatBufferMessage
typedef std::vector< std::shared_ptr< SynMessage > >	SynMessageList
typedef std::map< int, std::map< int, std::shared_ptr< SynMessage > > >	SynMessageMap
typedef std::vector< flatbuffers::Offset< SynFlatBuffers::Message > >	SynFlatBufferMessageList

Enumerations
enum class	LaneColor { GREEN , YELLOW , RED }

Functions
double	DistanceToLine (ChVector3d p, ChVector3d l1, ChVector3d l2)
bool	IsInsideBox (ChVector3d pos, ChVector3d front, ChVector3d back, double width)
	front, back and width define a box, check if pos is inside that box
bool	IsInsideQuad (ChVector3d pos, ChVector3d sp1, ChVector3d sp2, ChVector3d cp3, ChVector3d cp4)
	Checks if pos is inside the (assumed convex) quadrilateral defined by vectors for each vertex.
void	Barycentric (ChVector3d p, ChVector3d a, ChVector3d b, ChVector3d c, double &u, double &v, double &w)
	Compute barycentric coordinates (u, v, w) for point p with respect to triangle (a, b, c).
void	UpdateLaneInfoFromMAP (std::shared_ptr< SynMessage > synmsg, ChVector3d veh_pos, const int &rank, bool &inside_box, int &current_lane, int &current_approach, int &current_intersection, double &dist)
	update inside_box, dist and current_* variables based on info from a MAP message
void	UpdateInsideBoxFromMessage (std::shared_ptr< SynMessage > synmsg, ChVector3d veh_pos, int &current_lane, bool &inside_box, double &dist)
	calls UpdateInsideBoxFromApproachMessage
void	UpdateInsideBoxFromApproachMessage (std::shared_ptr< SynApproachMessage > app_msg, ChVector3d veh_pos, int &current_lane, bool &inside_box, double &dist)
	update current_lane, inside_box and dist based on info from an Approach Message
LaneColor	GetLaneColorFromMessage (std::shared_ptr< SynMessage > synmsg, const int intersection, const int approach, const int lane)
	Given an intersection, approach and lane, parse a SPAT message (synmsg) and return the lane color.
void	SetChronoDataPaths (const std::string &chrono_main, const std::string &chrono_vehicle)
void	SetDataPath (const std::string &path)
	Set the path to the SynChrono data directory (ATTENTION: not thread safe).
const std::string &	GetDataPath ()
	Obtain the current path to the SynChrono data directory (thread safe).
std::string	GetDataFile (const std::string &filename)
	Obtain the complete path to the specified filename, given relative to the SynChrono data directory (thread safe).
void	SetLogNodeID (int node_id)
	Will set the node id for this specific node.
std::string	GetAppendingString (int node_id)
std::ostream &	AppendLog (int)
std::ostream &	SynLog ()
	"Overriden" global function to get the current std::cout object Will prepend any output with the global id set from SetLogNodeID

Variables
const std::string	default_prefix = std::string("/syn/node/")

Function Documentation

◆ SetLogNodeID()

SYN_API void chrono::synchrono::SetLogNodeID ( int node_id )

Will set the node id for this specific node.

That way, the logger will print the correct node id

Description

Classes

Typedefs

Enumerations

Functions

Variables

Function Documentation

◆ SetLogNodeID()