Description

Base class for a brake subsystem.

#include <ChBrake.h>

Inheritance diagram for chrono::vehicle::ChBrake:

[legend]

Collaboration diagram for chrono::vehicle::ChBrake:

Public Member Functions
	ChBrake (const std::string &name)

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSuspension > suspension, VehicleSide side)=0
	Initialize the brake by associating it to an existing suspension subsystem. More...

virtual void	Synchronize (double modulation)=0
	Update the brake subsystem: set the brake modulation. More...

void	EnableLocking (bool val)
	Enable/disable ability of locking (default: false). More...

virtual double	GetBrakeTorque ()=0
	Get the current brake torque.

Public Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name. More...

const std::string &	GetName () const
	Get the name identifier for this subsystem.

void	SetName (const std::string &name)
	Set the name identifier for this subsystem.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Attributes
bool	m_can_lock
	can the brake lock?

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_output
	specifies whether or not output is generated for this subsystem

Additional Inherited Members
Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
	Export the list of bodies to the specified JSON document.

static void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
	Export the list of shafts to the specified JSON document.

static void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
	Export the list of joints to the specified JSON document.

static void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
	Export the list of shaft couples to the specified JSON document.

static void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
	Export the list of markers to the specified JSON document.

static void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
	Export the list of translational springs to the specified JSON document.

static void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRotSpringCB >> springs)
	Export the list of rotational springs to the specified JSON document.

static void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
	Export the list of body-body loads to the specified JSON document.

Member Function Documentation

◆ EnableLocking()

void chrono::vehicle::ChBrake::EnableLocking ( bool val )

inline

Enable/disable ability of locking (default: false).

Note that a derived class may or may not support this option.

◆ Initialize()

virtual void chrono::vehicle::ChBrake::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSuspension >	suspension,
		VehicleSide	side
	)

pure virtual

Initialize the brake by associating it to an existing suspension subsystem.

Parameters

chassis	associated chassis subsystem
suspension	associated suspension subsystem
side	brake mounted on left/right side

Implemented in chrono::vehicle::ChBrakeSimple, and chrono::vehicle::ChBrakeShafts.

◆ Synchronize()

virtual void chrono::vehicle::ChBrake::Synchronize ( double modulation )

pure virtual

Update the brake subsystem: set the brake modulation.

The input value is in the range [0,1].

  modulation = 0 indicates no braking
  modulation = 1 indicates that the subsystem should provide maximum braking torque

Implemented in chrono::vehicle::ChBrakeSimple, and chrono::vehicle::ChBrakeShafts.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChBrake.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChBrake.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ EnableLocking()

◆ Initialize()

◆ Synchronize()