def __init__(self,
system: 'WAChronoSystem',
vehicle_inputs: 'WAVehicleInputs',
env: 'WAEnvironment',
filename: str,
init_loc: WAVector = WAVector([0, 0, 0.5]),
init_rot: WAQuaternion = WAQuaternion([1, 0, 0, 0]),
init_speed: float = 0.0):
super().__init__(
system, vehicle_inputs,
get_wa_data_file("vehicles/GoKart/GoKart_KinematicBicycle.json"))
# Get the filenames
vehicle_file, powertrain_file, tire_file = read_vehicle_model_file(
filename)
# Create the vehicle
vehicle = veh.WheeledVehicle(system._system, vehicle_file)
# Initialize the vehicle
init_loc = WAVector_to_ChVector(init_loc)
init_rot = WAQuaternion_to_ChQuaternion(init_rot)
vehicle.Initialize(chrono.ChCoordsysD(init_loc, init_rot), init_speed)
# Set the visualization components for the vehicle
vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_NONE)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_NONE)
vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
# Create the powertrain
# Assumes a SimplePowertrain
powertrain = veh.SimplePowertrain(powertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = create_tire_from_json(tire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = create_tire_from_json(tire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
self._vehicle = vehicle
self._terrain = env._terrain
def __init__(self, step_size, sys, controller, irrlicht=False, vehicle_type='json', initLoc=chrono.ChVectorD(0,0,0), initRot=chrono.ChQuaternionD(1,0,0,0), vis_balls=False, render_step_size=1.0/60):
# Chrono parameters
self.step_size = step_size
self.irrlicht = irrlicht
self.step_number = 0
# Vehicle controller
self.controller = controller
# Initial vehicle position
self.initLoc = initLoc
# Initial vehicle orientation
self.initRot = initRot
# Point on chassis tracked by the camera (Irrlicht only)
self.trackPoint = chrono.ChVectorD(0.0, 0.0, 1.75)
if vehicle_type == 'json':
# JSON file for vehicle model
self.vehicle_file = veh.GetDataPath() + os.path.join('hmmwv', 'vehicle', 'HMMWV_Vehicle.json')
checkFile(self.vehicle_file)
# JSON file for powertrain (simple)
self.simplepowertrain_file = veh.GetDataPath() + os.path.join('generic', 'powertrain', 'SimplePowertrain.json')
checkFile(self.simplepowertrain_file)
# JSON files tire models (rigid)
self.rigidtire_file = veh.GetDataPath() + os.path.join('hmmwv', 'tire', 'HMMWV_RigidTire.json')
checkFile(self.rigidtire_file)
# --------------------------
# Create the various modules
# --------------------------
if sys == None:
self.wheeled_vehicle = veh.WheeledVehicle(self.vehicle_file)
else:
self.wheeled_vehicle = veh.WheeledVehicle(sys, self.vehicle_file)
self.wheeled_vehicle.Initialize(chrono.ChCoordsysD(self.initLoc, self.initRot))
self.wheeled_vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create and initialize the powertrain system
self.powertrain = veh.SimplePowertrain(self.simplepowertrain_file)
self.wheeled_vehicle.InitializePowertrain(self.powertrain)
# Create and initialize the tires
for axle in self.wheeled_vehicle.GetAxles():
tireL = veh.RigidTire(self.rigidtire_file)
self.wheeled_vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH)
tireR = veh.RigidTire(self.rigidtire_file)
self.wheeled_vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH)
self.vehicle = self.wheeled_vehicle
self.sys = self.wheeled_vehicle.GetSystem()
elif vehicle_type == 'rccar':
if sys == None:
self.rc_vehicle = veh.RCCar()
self.rc_vehicle.SetContactMethod(chrono.ChMaterialSurface.SMC)
self.rc_vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
else:
self.rc_vehicle = veh.RCCar(sys)
self.rc_vehicle.SetChassisFixed(False)
self.rc_vehicle.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
self.rc_vehicle.SetTireType(veh.TireModelType_RIGID)
self.rc_vehicle.SetTireStepSize(step_size)
self.rc_vehicle.Initialize()
self.rc_vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetWheelVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.vehicle = self.rc_vehicle.GetVehicle()
self.sys = self.vehicle.GetSystem()
self.trackPoint = chrono.ChVectorD(4, 0.0, .15)
elif vehicle_type == 'sedan':
if sys == None:
self.sedan = veh.Sedan()
self.sedan.SetContactMethod(chrono.ChMaterialSurface.NSC)
self.sedan.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
else:
self.sedan = veh.Sedan(sys)
self.sedan.SetChassisFixed(False)
self.sedan.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
self.sedan.SetTireType(veh.TireModelType_RIGID)
self.sedan.SetTireStepSize(step_size)
self.sedan.Initialize()
self.sedan.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetWheelVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.vehicle = self.sedan.GetVehicle()
self.sys = self.vehicle.GetVehicle().GetSystem()
# -------------
# Create driver
# -------------
self.driver = Driver(self.vehicle)
self.driver.SetStepSize(step_size)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
self.driver.SetSteeringDelta(render_step_size / steering_time)
self.driver.SetThrottleDelta(render_step_size / throttle_time)
self.driver.SetBrakingDelta(render_step_size / braking_time)
self.vis_balls = vis_balls
if self.vis_balls:
self.sentinel_sphere = chrono.ChBodyEasySphere(.25, 1000, False, True)
self.sentinel_sphere.SetBodyFixed(True)
self.sentinel_sphere.AddAsset(chrono.ChColorAsset(1,0,0))
self.sys.Add(self.sentinel_sphere)
self.sentinel_target = chrono.ChBodyEasySphere(.25, 1000, False, True)
self.sentinel_target.SetBodyFixed(True)
self.sentinel_target.AddAsset(chrono.ChColorAsset(0,1,0));
self.sys.Add(self.sentinel_target)
# Vehicle parameters for matplotlib
self.length = self.vehicle.GetWheelbase() + 2.0 # [m]
self.width = self.vehicle.GetWheeltrack(0) # [m]
self.backtowheel = 1.0 # [m]
self.wheel_len = self.vehicle.GetWheel(0, 1).GetWidth() * 2 # [m]
self.wheel_width = self.vehicle.GetWheel(0, 1).GetWidth() # [m]
self.tread = self.vehicle.GetWheeltrack(0) / 2 # [m]
self.wb = self.vehicle.GetWheelbase() # [m]
self.offset = [-4.0,0] # [m]
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChContactMethod_NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
# Create and initialize the vehicle tires
for axle in vehicle.GetAxles():
tireL = veh.TMeasyTire(vehicle_tire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.TMeasyTire(vehicle_tire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# Create and initialize the powertrain system
powertrain = veh.SimpleMapPowertrain(vehicle_powertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the trailer
trailer = veh.WheeledTrailer(vehicle.GetSystem(), trailer_file)
trailer.Initialize(vehicle.GetChassis())
trailer.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
trailer.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
trailer.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create abd initialize the trailer tires
for axle in trailer.GetAxles():
tireL = veh.TMeasyTire(trailer_tire_file)
trailer.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_PRIMITIVES)
tireR = veh.TMeasyTire(trailer_tire_file)
trailer.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_PRIMITIVES)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
app = veh.ChVehicleIrrApp(vehicle, 'Sedan+Trailer (JSON specification)',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# ---------------
# Simulation loop
# ---------------
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
# Render scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
trailer.Synchronize(time, driver_inputs.m_braking, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
trailer.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
def main() :
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles() :
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH)
app = veh.ChVehicleIrrApp(vehicle)
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataPath() + 'logo_pychrono_alpha.png')
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0; # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0; # time to go from 0 to +1
braking_time = 0.3; # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()) :
# Render scene
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
def main():
# print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# ---------
# Load path
# ---------
path_file = "../data/paths/loop2.txt"
path = np.genfromtxt(path_file, delimiter=",")
ds = 5 # [m] distance of each intepolated points
sp = Spline2D(path[:, 0], path[:, 1])
s = np.arange(0, sp.s[-1], ds)
px, py = [], []
for i_s in s:
ix, iy = sp.calc_position(i_s)
px.append(ix)
py.append(iy)
px.append(px[0])
py.append(py[0])
initLoc = chrono.ChVectorD(px[0], py[0], 0.5)
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
# vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
driver = Driver(vehicle)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# ------------------
# Draw path
# ------------------
if irrlicht:
road = vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
vehicle.GetSystem().AddBody(road)
num_points = len(px)
lines = chrono.ChLinePath()
for i in range(num_points - 1):
lines.AddSubLine(
chrono.ChLineSegment(
chrono.ChVectorD(px[i], py[i], 0.1),
chrono.ChVectorD(px[i + 1], py[i + 1], 0.1)))
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(lines)
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
# --------------------
# Create controller(s)
# --------------------
controller = MPCController(vehicle, driver, path)
# -----------------------
# Initialize irrlicht app
# -----------------------
if irrlicht:
app = veh.ChVehicleIrrApp(vehicle)
app.SetHUDLocation(500, 20)
app.SetSkyBox()
app.AddTypicalLogo()
app.AddTypicalLights(
chronoirr.vector3df(-150.0, -150.0, 200.0),
chronoirr.vector3df(-150.0, 150.0, 200.0),
100,
100,
)
app.AddTypicalLights(
chronoirr.vector3df(150.0, -150.0, 200.0),
chronoirr.vector3df(150.0, 150.0, 200.0),
100,
100,
)
app.EnableGrid(False)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# -----------------
# Initialize output
# -----------------
if output:
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Number of simulation steps between miscellaneous events
render_steps = int(math.ceil(render_step_size / step_size))
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
if irrlicht:
while app.GetDevice().run():
# Render scene
if step_number % render_steps == 0:
app.BeginScene(True, True,
chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
else:
while True:
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
vis.Advance(step)
# Increment frame number
step_number += 1
def reset(self):
print("reset")
self.generator.generatePath(difficulty=50, seed=randint(1, 1000))
self.path = Path(self.generator)
self.path_tracker = PathTracker(self.path)
self.initLoc = self.path_tracker.GetInitLoc()
self.initRot = self.path_tracker.GetInitRot()
self.vehicle = veh.WheeledVehicle(self.vehicle_file,
chrono.ChMaterialSurface.NSC)
self.vehicle.Initialize(chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetStepsize(self.timestep)
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create and initialize the powertrain system
self.powertrain = veh.SimplePowertrain(self.simplepowertrain_file)
self.vehicle.InitializePowertrain(self.powertrain)
# Create the ground
self.terrain = veh.RigidTerrain(self.vehicle.GetSystem(),
self.rigidterrain_file)
for axle in self.vehicle.GetAxles():
tireL = veh.RigidTire(self.rigidtire_file)
self.vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(self.rigidtire_file)
self.vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
self.driver = Driver(self.vehicle)
# Time interval between two render frames
render_step_size = 1.0 / 60 # FPS = 60
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.driver.SetSteeringDelta(render_step_size / steering_time)
self.driver.SetThrottleDelta(render_step_size / throttle_time)
self.driver.SetBrakingDelta(render_step_size / braking_time)
vec = chrono.ChVectorD(0, 0, 0)
self.path_tracker.calcClosestPoint(self.vehicle.GetVehiclePos(), vec)
self.last_dist = vec.Length()
self.last_throttle, self.last_braking, self.last_steering = 0, 0, 0
if self.render:
road = self.vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
self.vehicle.GetSystem().AddBody(road)
num_points = self.path.getNumPoints()
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(
chrono.ChLineBezier(self.path_tracker.path))
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
if self.render:
self.app = veh.ChVehicleIrrApp(self.vehicle)
self.app.SetHUDLocation(500, 20)
self.app.SetSkyBox()
self.app.AddTypicalLogo()
self.app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.),
chronoirr.vector3df(-150., 150., 200.),
100, 100)
self.app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.),
chronoirr.vector3df(150., 150., 200.),
100, 100)
self.app.EnableGrid(False)
self.app.SetChaseCamera(self.trackPoint, 6.0, 0.5)
self.app.SetTimestep(self.timestep)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
# ==IMPORTANT!== Use this function for adding a ChIrrNodeAsset to all items
# in the system. These ChIrrNodeAsset assets are 'proxies' to the Irrlicht meshes.
# If you need a finer control on which item really needs a visualization proxy
# Irrlicht, just use application.AssetBind(myitem); on a per-item basis.
self.app.AssetBindAll()
# ==IMPORTANT!== Use this function for 'converting' into Irrlicht meshes the assets
# that you added to the bodies into 3D shapes, they can be visualized by Irrlicht!
self.app.AssetUpdateAll()
self.isdone = False
self.steps = 0
self.step(np.zeros(3))
self.tracknum = self.tracknum = 0 if self.tracknum >= 3 else self.tracknum + 1
# self.tracknum = self.tracknum + 1
return self.get_ob()
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
driver = Driver(vehicle)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# ------------------
# Load and draw path
# ------------------
# path_file = 'paths/straight.txt'
# path_file = 'paths/curve.txt'
path_file = 'paths/NATO_double_lane_change.txt'
# path_file = 'paths/ISO_double_lane_change.txt'
path = chrono.ChBezierCurve.read(veh.GetDataFile(path_file))
if irrlicht:
road = vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
vehicle.GetSystem().AddBody(road)
num_points = path.getNumPoints()
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(chrono.ChLineBezier(path))
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
# --------------------
# Create controller(s)
# --------------------
steering_controller = PIDSteeringController(vehicle, driver, path)
steering_controller.SetGains(Kp=0.4, Ki=0, Kd=0.25)
steering_controller.SetLookAheadDistance(dist=5.0)
throttle_controller = PIDThrottleController(vehicle, driver)
throttle_controller.SetGains(Kp=0.4, Ki=0, Kd=0)
throttle_controller.SetTargetSpeed(target_speed)
# -----------------------
# Initialize irrlicht app
# -----------------------
if irrlicht:
app = veh.ChVehicleIrrApp(vehicle)
app.SetHUDLocation(500, 20)
app.SetSkyBox()
app.AddTypicalLogo()
app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.),
chronoirr.vector3df(-150., 150., 200.), 100, 100)
app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.),
chronoirr.vector3df(150., 150., 200.), 100, 100)
app.EnableGrid(False)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# -----------------
# Initialize output
# -----------------
if output:
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Number of simulation steps between miscellaneous events
render_steps = int(math.ceil(render_step_size / step_size))
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
if irrlicht:
while (app.GetDevice().run()):
# Render scene
if step_number % render_steps == 0:
app.BeginScene(True, True,
chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
else:
while (True):
vehicle.GetSystem().DoStepDynamics(step_size)
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
# Increment frame number
step_number += 1
def main():
# ----------------------
# Set path to data files
# ----------------------
# Path to Chrono data files (textures, etc.)
chrono.SetChronoDataPath(CHRONO_DATA_DIR)
# Path to the data files for this vehicle (JSON specification files)
veh.SetDataPath("./data/")
# --------------------------
# Create the various modules
# --------------------------
# Create and initialize the vehicle system
vehicle = veh.WheeledVehicle(veh.GetDataFile(vehicle_file), NSC_SMC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the terrain
terrain = veh.RigidTerrain(vehicle.GetSystem(),
veh.GetDataFile(rigidterrain_file))
AddFixedObstacles(vehicle.GetSystem())
AddMovingObstacles(vehicle.GetSystem())
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(veh.GetDataFile(simplepowertrain_file))
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(veh.GetDataFile(rigidtire_file))
tireR = veh.RigidTire(veh.GetDataFile(rigidtire_file))
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# Create the Irrlicht vehicle application
app = veh.ChVehicleIrrApp(vehicle, "Vehicle Demo")
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100),
chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the driver system (interactive)
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)
# ---------------
# Simulation loop
# ---------------
"""driveshaft_speed
powertrain_torque
throttle_input
steering_input
braking_input"""
# Number of simulation steps between two 3D view render frames
render_steps = m.ceil(render_step_size / step_size)
#Initialize simulation frame counter and simulation time
step_number = 0
frame_number = 0
time = 0
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
# Render scene
if (step_number % render_steps == 0):
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#char filename[100];
#sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), frame_number + 1);
#utils::WriteShapesPovray(vehicle.GetSystem(), filename);
frame_number += 1
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main() :
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
powertrain.Initialize(vehicle.GetChassisBody(), vehicle.GetDriveshaft())
#// Create and initialize the tires
num_axles = vehicle.GetNumberAxles()
num_wheels = 2 * num_axles
tires = [ veh.RigidTire(rigidtire_file) for i in range(num_wheels)]
for i, t in enumerate(tires):
#t = std::make_shared<vehicle::RigidTire>(vehicle::GetDataFile(rigidtire_file));
s = [veh.LEFT, veh.RIGHT]
t.Initialize(vehicle.GetWheelBody(veh.WheelID(i)), s[i % 2])
t.SetVisualizationType(veh.VisualizationType_MESH)
app = veh.ChVehicleIrrApp (vehicle, powertrain)
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
"""
bool do_shadows = false; // shadow map is experimental
irr::scene::ILightSceneNode* mlight = 0;
if (do_shadows) {
mlight = application.AddLightWithShadow(
irr::core::vector3df(10.f, 30.f, 60.f),
irr::core::vector3df(0.f, 0.f, 0.f),
150, 60, 80, 15, 512, irr::video::SColorf(1, 1, 1), false, false);
} else {
application.AddTypicalLights(
irr::core::vector3df(30.f, -30.f, 100.f),
irr::core::vector3df(30.f, 50.f, 100.f),
250, 130);
}
if (do_shadows)
application.AddShadowAll();
"""
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0; # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0; # time to go from 0 to +1
braking_time = 0.3; # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# Set file with driver input time series
driver.SetInputDataFile(driver_file)
"""
#else
ChDataDriver driver(vehicle, vehicle::GetDataFile(driver_file));
#endif
"""
driver.Initialize()
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
"""if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)"""
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Inter-module communication data
tire_forces = veh.TerrainForces(num_wheels)
wheel_states = veh.WheelStates(num_wheels)
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
#ifdef USE_IRRLICHT
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()) :
# Render scene
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
# Collect output data from modules (for inter-module communication)
throttle_input = driver.GetThrottle()
steering_input = driver.GetSteering()
braking_input = driver.GetBraking()
powertrain_torque = powertrain.GetOutputTorque()
driveshaft_speed = vehicle.GetDriveshaftSpeed()
for i in range (num_wheels) :
tire_forces[i] = tires[i].GetTireForce()
wheel_states[i] = vehicle.GetWheelState(veh.WheelID(i))
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
powertrain.Synchronize(time, throttle_input, driveshaft_speed)
vehicle.Synchronize(time, steering_input, braking_input, powertrain_torque, tire_forces)
terrain.Synchronize(time)
for i in range (num_wheels):
tires[i].Synchronize(time, wheel_states[i], terrain)
app.Synchronize(driver.GetInputModeAsString(), steering_input, throttle_input, braking_input)
# Advance simulation for one timestep for all modules
step = realtime_timer.SuggestSimulationStep(step_size)
driver.Advance(step)
powertrain.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
for i in range(num_wheels) :
tires[i].Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
app.EndScene()