Description

Brake for wheeled vehicles modeled using a clutch between two shafts.

#include <ChBrakeShafts.h>

Inheritance diagram for chrono::vehicle::ChBrakeShafts:

[legend]

Collaboration diagram for chrono::vehicle::ChBrakeShafts:

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

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

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

virtual void	Synchronize (double modulation) override
	Update the brake subsystem: set the brake modulation, in 0..1 range: More...

virtual double	GetBrakeTorque () override
	Get the current brake torque.

Public Member Functions inherited from chrono::vehicle::ChBrake
	ChBrake (const std::string &name)

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

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.

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 Member Functions
virtual double	GetShaftInertia ()=0
	Get the brake shaft inertia.

virtual double	GetMaxBrakingTorque ()=0
	Get the max braking torque (for modulation =1)

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

Protected Attributes
double	m_modulation
	current braking input

bool	m_locked
	is brake locked?

std::shared_ptr< ChShaft >	m_shaft
	shaft attached to "fixed" body

std::shared_ptr< ChShaftsClutch >	m_clutch
	clutch between the brake shaft and axle shaft

Protected Attributes inherited from chrono::vehicle::ChBrake
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...

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

◆ Initialize()

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

overridevirtual

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

Implements chrono::vehicle::ChBrake.

◆ Synchronize()

void chrono::vehicle::ChBrakeShafts::Synchronize ( double modulation )

overridevirtual

Update the brake subsystem: set the brake modulation, in 0..1 range:

when = 0 it is completely free,
when = 1 it provides the max braking torque

Implements chrono::vehicle::ChBrake.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/brake/ChBrakeShafts.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/brake/ChBrakeShafts.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Initialize()

◆ Synchronize()