wa_simulator.chrono.visualization

Classes

WAChronoIrrlicht

Chrono irrlicht visualization wrapper. Sets default values for a Vehicle irr app

WAChronoSensorVisualization

Chrono sensor visualization wrapper. Sets default values for a camera sensor
class WAChronoIrrlicht(system: WAChronoSystem, vehicle: WAChronoVehicle, vehicle_inputs: WAVehicleInputs, environment: WAEnvironment = None, opponents: list = [], record: bool = False, record_folder: str = 'OUTPUT/', should_bind: bool = True)[source]

Bases: wa_simulator.visualization.WAVisualization

Chrono irrlicht visualization wrapper. Sets default values for a Vehicle irr app

Parameters

  • system (WAChronoSystem) – holds information regarding the simulation and performs dynamic updates

  • vehicle (WAChronoVehicle) – vehicle that holds the Chrono vehicle

  • vehicle_inputs (WAVehicleInputs) – the vehicle inputs

  • environment (WAEnvironment, optional) – An environment with various world assets to visualize. Defaults to None (doesn’t visualize anything).

  • opponents (list, optional) – Opponents present in the simulation. The camera will track vehicle not any opponent.

  • record (bool, optional) – If set to true, images will be saved under record_filename. Defaults to False (doesn’t save images).

  • record_folder (str, optional) – The folder to save images to. Defaults to “OUTPUT/”.

  • should_bind (bool, optional) – After all assets have been added to the environment, irrlicht needs to “bind” and add the assets to the 3D rendered world. This can be done either on instantiation (True) or on the first update (False). Defaults to True.

synchronize(self, time: float)[source]

Synchronize the irrlicht app with the vehicle inputs at the passed time

Parameters

time (double) – time to synchronize the simulation to

advance(self, step: float)[source]

Advance the state of the visualization by the specified step

Will update the render only if the simulation step is a multiple of render steps

Parameters

step (double) – step size to update the visualization by

is_ok(self)[source]

Checks if the irrlicht rending window is still alive

Returns

bool – whether the simulation is still alive

bind(self)[source]

Call AssetBindAll and AssetUpdateAll.

visualize(self, assets, *args, **kwargs)[source]

Helper method that visualizes some object(s) in the chosen visualizer

Different visualizations will visualize the object(s) in different ways. This is an abstract method, so it must be implemented.

Parameters

  • assets (list) – The object(s) to visualize

  • *args – Positional arguments that are specific to the underyling visualizer implementation

  • **kwargs – Keyworded arguments that are specific to the underlying visualizer implementation

class WAChronoSensorVisualization(system: WAChronoSystem, vehicle: WAChronoVehicle, vehicle_inputs: WAVehicleInputs, environment: WAEnvironment = None, opponents: list = [], record: bool = False, record_folder: str = 'OUTPUT/')[source]

Bases: wa_simulator.visualization.WAVisualization

Chrono sensor visualization wrapper. Sets default values for a camera sensor

Parameters

  • system (WAChronoSystem) – holds information regarding the simulation and performs dynamic updates

  • vehicle (WAChronoVehicle) – vehicle that holds the Chrono vehicle

  • vehicle_inputs (WAVehicleInputs) – the vehicle inputs

  • environment (WAEnvironment, optional) – An environment with various world assets to visualize. Defaults to None (doesn’t visualize anything).

  • opponents (list, optional) – Opponents present in the simulation. The camera will track vehicle not any opponent.

  • record (bool, optional) – If set to true, images will be saved under record_filename. Defaults to False (doesn’t save images).

  • record_folder (str, optional) – The folder to save images to. Defaults to “OUTPUT/”.

synchronize(self, time: float)[source]

Update the state of this component at the current time.

The primary reason to decouple the update method into two separate calls (i.e. synchronize() and advance()) is to provide flexibility to the user and is essentially semantic. In most simple cases, a user will only need one of the two. Furthermore, can only use advance() if they prefer and just update their own time variable. Given the unknown use cases for the simulator at the time of writing, it was chosen to provide two different methods with similar functionality as to allow the user to choose their desired implementation, rather than the writers of this package.

As opposed to advance(), this method gets the current time of the simulation. As menthioned earlier, advance() and a user defined time variable could be used to instead to hold the current state of the simulation. However, to aid in generality of the package, this method is provided to simply provide the current time of the simulation to the user in a decoupled manner from the advance() method.

Parameters

time (float) – The current time to synchronize to

advance(self, step: float)[source]

Advance the state of this component by the specified time step.

The primary reason to decouple the update method into two separate calls (i.e. synchronize() and advance()) is to provide flexibility to the user and is essentially semantic. In most simple cases, a user will only need one of the two. Furthermore, can only use advance() if they prefer and just update their own time variable. Given the unknown use cases for the simulator at the time of writing, it was chosen to provide two different methods with similar functionality as to allow the user to choose their desired implementation, rather than the writers of this package.

Parameters

step (float) – The step size to advance this component by

is_ok(self)[source]

Check whether this component is still alive.

Depending the type of component, a specific element may “fail”. For example, when a visualization is used that presents a GUI/window, if the user closes that display, this would be considered a component death. Therefore, is_ok() should then return False.

Returns

bool – True if still alive, false otherwise

visualize(self, assets, *args, **kwargs)[source]

Helper method that visualizes some object(s) in the chosen visualizer

Different visualizations will visualize the object(s) in different ways. This is an abstract method, so it must be implemented.

Parameters

  • assets (list) – The object(s) to visualize

  • *args – Positional arguments that are specific to the underyling visualizer implementation

  • **kwargs – Keyworded arguments that are specific to the underlying visualizer implementation

Methods

draw_path_in_irrlicht

Draw a WAPath representation as a ChBezierCurve in irrlicht

create_sphere_in_chrono

Create and add a sphere to the chrono world

update_position_of_sphere

Update the position of a sphere being visualized in irrlicht
draw_path_in_irrlicht(system: WAChronoSystem, path: WAPath)[source]

Draw a WAPath representation as a ChBezierCurve in irrlicht

Basically just copies over the path’s points into something viewable for Chrono

Parameters

  • system (WAChronoSystem) – system that manages the simulation

  • path (WAPath) – WA path object to visualize in irrlicht

create_sphere_in_chrono(system: WAChronoSystem, rgb=(1, 0, 0)) → chrono.ChBodyEasySphere[source]

Create and add a sphere to the chrono world

Parameters

  • system (WASystem) – the system that manages the simulation

  • rgb (tuple, optional) – (red, green, blue). Defaults to (1, 0, 0) or red.

Returns

chrono.ChBodyEasySphere – the sphere that was created

update_position_of_sphere(sphere: chrono.ChBodyEasySphere, pos: WAVector)[source]

Update the position of a sphere being visualized in irrlicht

Parameters

  • sphere (chrono.ChBodyEasySphere) – the sphere to change the position of

  • pos (WAVector) – the new position